U.S. patent number 7,515,954 [Application Number 11/451,898] was granted by the patent office on 2009-04-07 for non-contact cardiac mapping, including moving catheter and multi-beat integration.
This patent grant is currently assigned to Rhythmia Medical, Inc.. Invention is credited to Leon Amariglio, Pavel Greenfield, Doron Harlev.
United States Patent |
7,515,954 |
Harlev , et al. |
April 7, 2009 |
Non-contact cardiac mapping, including moving catheter and
multi-beat integration
Abstract
A non-contact cardiac mapping method is disclosed that includes:
(i) inserting a catheter into a heart cavity having an endocardium
surface, the catheter including multiple, spatially distributed
electrodes; (ii) measuring signals at the catheter electrodes in
response to electrical activity in the heart cavity with the
catheter spaced from the endocardium surface; and (iii) determining
physiological information at multiple locations of the endocardium
surface based on the measured signals and positions of the
electrodes with respect to the endocardium surface. Related systems
and computer programs are also disclosed.
Inventors: |
Harlev; Doron (Cambridge,
MA), Greenfield; Pavel (Havertown, PA), Amariglio;
Leon (Somerville, MA) |
Assignee: |
Rhythmia Medical, Inc.
(Burlington, MA)
|
Family
ID: |
38874390 |
Appl.
No.: |
11/451,898 |
Filed: |
June 13, 2006 |
Prior Publication Data
|
|
|
|
Document
Identifier |
Publication Date |
|
US 20070299352 A1 |
Dec 27, 2007 |
|
Current U.S.
Class: |
600/509 |
Current CPC
Class: |
A61B
5/065 (20130101); A61B 5/339 (20210101); A61B
5/6852 (20130101); A61B 5/287 (20210101); A61B
5/062 (20130101) |
Current International
Class: |
A61B
5/02 (20060101) |
Field of
Search: |
;600/509,512 |
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|
Primary Examiner: Layno; Carl H
Assistant Examiner: Gedeon; Brian T
Attorney, Agent or Firm: Fish & Richardson P.C.
Claims
What is claimed is:
1. A method comprising: inserting a catheter into a heart cavity
having an endocardium surface, the catheter comprising multiple,
spatially distributed electrodes; moving the catheter to each of
multiple, different positions in the heart cavity for which the
catheter is spaced from the endocardium surface; for each of the
different catheter positions, determining the positions of the
catheter electrodes with respect to the endocardium surface and
measuring signals at the catheter electrodes in response to
electrical activity in the heart cavity; and determining
physiological information at multiple locations of the endocardium
surface based on the determined positions of the catheter
electrodes and the measured signals at the different catheter
positions; wherein the signals are measured for at least one
electrical heart cycle for each catheter position; the
determination of the physiological information at the multiple
locations of the endocardium surface comprises synchronizing the
signals measured at the different catheter positions with one
another according to an electrical heart beat cycle; and the
determination of the physiological information at the multiple
locations of the endocardium surface further comprises processing
the synchronized signals as though they were obtained at one time
from all of the positions sampled by the catheter electrodes for
the different positions of the catheter in the heart cavity.
2. The method of claim 1, wherein the number of catheter positions
at which the signals are measured and used to determine the
physiological information at the multiple locations of the
endocardium surface is more than three.
3. The method of claim 1, wherein the catheter is moved over a
range larger than about one third of the diameter of the heart
cavity to measure the signals used to determine the physiological
information at the multiple locations of the endocardium
surface.
4. The method of claim 1, wherein the measured signals are
synchronized based on physiological data including at least one of:
ECG and intercardiac electrograms.
5. The method of claim 1, wherein the determination of the
physiological information at the multiple locations of the
endocardium surface further comprises applying a transformation
function to the synchronized signals, wherein the transformation
function relates signals measured from at least some of the
different positions of the catheter in the heart cavity to the
physiological information at the multiple locations of the
endocardium surface.
6. The method of claim 5, wherein the determination of the
physiological information at the multiple locations of the
endocardium surface further comprises determining the
transformation function by calculating a forward transformation for
relating the physiological information at the multiple locations of
the endocardium surface to the signals measured for the different
positions of the catheter in the heart cavity and inverting the
forward transformation.
7. The method of claim 6, wherein the inverting comprises
reformulating an underdetermined matrix inversion by
regularization.
8. The method of claim 7, wherein the inverting further comprises a
least squares minimization.
9. A method comprising: inserting a catheter into a heart cavity
having an endocardium surface, the catheter comprising multiple,
spatially distributed electrodes; moving the catheter to each of
multiple, different positions in the heart cavity for which the
catheter is spaced from the endocardium surface; for each of the
different catheter positions, determining the positions of the
catheter electrodes with respect to the endocardium surface and
measuring signals at the catheter electrodes in response to
electrical activity in the heart cavity; and determining
physiological information at multiple locations of the endocardium
surface based on the determined positions of the catheter
electrodes and the measured signals at the different catheter
positions; wherein the determination of the physiological
information at the multiple locations of the endocardium surface
comprises determining multiple estimates of the physiological
information for each of at least some of the locations on the
endocardium based on the measured signals corresponding to at least
some of the different catheter positions.
10. The method of claim 9, further comprising processing the
multiple estimates to improve an accuracy of the physiological
information.
11. The method of claim 10, wherein the further processing of the
multiple estimates comprises averaging the estimates.
12. The method of claim 11, wherein the averaging is a weighted
averaging.
13. The method of claim 1, wherein determining the position of the
catheter electrodes with respect to the endocardium surface
comprises using at least one of electric fields, magnetic fields,
fluoroscopy, and ultrasound to determine a position of the catheter
in a first coordinate system.
14. The method of claim 13, wherein determining the position of the
catheter with respect to the endocardium surface further comprises
registering a representation of the endocardium surface, the
representation having been obtained prior to inserting the catheter
into the heart cavity, with the first coordinate system.
15. The method of claim 1, wherein the determined physiological
information includes at least one of: electrical potential values
at the multiple locations of endocardium surface at each of one or
more different phases of the heart beat cycle, a maximum voltage
amplitude for one or more heart beat cycles at different ones of
the endocardium surface locations, a frequency representation of
electrical activity at multiple locations of the endocardium
surface during the heart beat cycle, wherein the frequency
representation is computed based on electrical potential values at
the multiple locations of endocardium surface at different phases
of the heart beat cycle, and an activation time for each of
different locations of the endocardium surface.
16. The method of claim 15, further comprising displaying at least
a portion of the determined physiological information.
17. The method of claim 1, wherein the number of locations on the
endocardium surface where physiological information is determined
is more than 10 times more than the number of electrodes on the
catheter.
18. The method of claim 1, wherein the catheter is spaced from the
endocardium surface by more than about 3 mm when measuring the
signals.
19. The method of claim 1, further comprising displaying at least a
portion of the endocardium surface to include at least some of the
physiological information determined at the multiple surface
locations.
20. The method of claim 1, wherein the signals measured are
electrical signals.
21. The method of claim 20, wherein the signals measured are
electric potential signals.
22. The method of claim 1, wherein the physiological information is
electrical information.
23. The method of claim 22, wherein the physiological information
comprises electrical potentials at the multiple locations of the
endocardium surface.
24. The method of claim 1, wherein determining the position of the
catheter electrodes comprises measuring information about at least
one of a position and orientation of the catheter within the heart
cavity.
25. The method claim 24, wherein determining the position of the
catheter electrodes is based further on information about the
distribution of the electrodes on the catheter.
26. The method of claim 25, wherein measuring information about at
least one of a position and orientation of the catheter within the
heart cavity comprises measuring the position of one or more
catheter electrodes within the heart cavity.
27. The method of claim 1, wherein determining the position of the
catheter electrodes comprises directly measuring the position of
each catheter electrode within the heart cavity.
28. The method of claim 1, further comprising using the determined
physiological information to guide treatment of the heart
cavity.
29. The method of claim 28, wherein the treatment comprises
ablation of one or more selected regions of the heart.
30. The method of claim 29, further comprising repeating the
measurement of catheter electrode signals and the determination of
the physiological information after the ablation treatment, and
displaying a difference map comprising information about how the
determined physiological information changed in response to the
ablation treatment.
31. The method of claim 28, wherein the treatment comprises cell
therapy, gene therapy, or application of other biological
agents.
32. A system comprising: a catheter configured to be inserted into
a heart cavity having an endocardium surface and to move to each of
multiple positions in the heart cavity for which the catheter is
spaced from the endocardium surface, the catheter comprising
multiple, spatially distributed electrodes, the multiple electrodes
configured to measure signals in response to electrical activity in
the heart cavity; a sensor device configured to determine, for each
of the different catheter positions, the positions of the catheter
electrodes with respect to the endocardium surface; a processing
unit configured to determine physiological information at multiple
locations of the endocardium surface based on the determined
positions of the catheter electrodes and the measured signals at
the different catheter positions; and a synchronization unit
configured to synchronize the signals measured at the different
catheter positions with one another according to an electric heart
beat cycle.
33. The system of claim 32, wherein the processing unit is further
configured to process the synchronized signals as though they were
obtained at one time from all of the positions sampled by the
catheter electrodes for the different positions of the catheter in
the heart cavity.
34. The system of claims 32, wherein the processing unit is further
configured to apply a transformation function to the synchronized
signals, wherein the transformation function relates signals
measured from at least some of the different positions of the
catheter in the heart cavity to the physiological information at
the multiple locations of the endocardium surface.
35. The system of claim 34, wherein the processing unit is further
configured to determine the transformation function by calculating
a forward transformation for relating the physiological information
at the multiple locations of the endocardium surface to the signals
measured for the different positions of the catheter in the heart
cavity and inverting the forward transformation.
36. The system of claim 32, wherein the processing unit configured
to determine the physiological information at the multiple
locations of the endocardium surface is configured to determine
multiple estimates of the physiological information for each of at
least some of the locations on the endocardium based on the
measured signals corresponding to at least some of the different
catheter positions.
37. The system of claim 32, wherein the sensor device is configured
to determine the position of the catheter with respect to the
endocardium surface further configured to register a representation
of the endocardium surface, the representation having been obtained
prior to inserting the catheter into the heart cavity, with the
first coordinate system.
38. The system of claim 32, further comprising a display device
configured to display at least a portion of the determined
physiological information, the determined physiological information
includes at least one of: electrical potential values at the
multiple locations of endocardium surface at each of one or more
different phases of the heart beat cycle, a maximum voltage
amplitude for one or more heart beat cycles at different ones of
the endocardium surface locations, a frequency representation of
electrical activity at multiple locations of the endocardium
surface during the heart beat cycle, wherein the frequency
representation is computed based on electrical potential values at
the multiple locations of endocardium surface at different phases
of the heart beat cycle, and an activation time for each of
different locations of the endocardium surface.
39. A method comprising: inserting a catheter into a heart cavity
having an endocardium surface, the catheter comprising multiple,
spatially distributed electrodes; measuring signals at the catheter
electrodes in response to electrical activity in the heart cavity
with the catheter spaced from the endocardium surface; and
determining physiological information at multiple locations of the
endocardium surface based on the measured signals and positions of
the electrodes with respect to the endocardium surface; wherein the
signals are measured during multiple electrical heart beat cycles
and wherein the physiological information is determined, at least
in part, by combining information derived from the signals for
different heart beat cycles; wherein the combining comprises
integrating information derived from the signals for common phases
of the electrical heart beat cycles.
40. The method of claim 39, further comprising: moving the catheter
to each of multiple, different positions in the heart cavity for
which the catheter is spaced from the endocardium surface; and for
each of the different catheter positions, determining the positions
of the catheter electrodes with respect to the endocardium surface
and measuring signals at the catheter electrodes in response to
electrical activity in the heart cavity, wherein the determination
of the physiological information at the multiple locations of the
endocardium surface is based further on the positions of the
catheter electrodes and the measured signals at the different
catheter positions.
41. The method of claim 39, wherein the integrated information
comprises integrated electric potentials on the endocardium surface
for common phases of the multiple electrical heart cycle.
42. The method of claim 39, wherein the information derived from
the signals for different heart beat cycles comprises a maximum
voltage amplitude for each of the different heart beat cycles at
different ones of the endocardium surface locations.
43. The method of claim 42, wherein the combining comprises
averaging together the maximum voltage amplitudes for the different
heart beat cycles.
44. The method of claim 43, wherein the averaging is a weighted
averaging.
45. The method of claim 39, wherein the determined physiological
information includes at least one of: electrical potential values
at the multiple locations of endocardium surface at each of one or
more different phases of the heart beat cycle, a maximum voltage
amplitude for one or more heart beat cycles at different ones of
the endocardium surface locations, a frequency representation of
electrical activity at multiple locations of the endocardium
surface during the heart beat cycle, wherein the frequency
representation is computed based on electrical potential values at
the multiple locations of endocardium surface at different phases
of the heart beat cycle, and an activation time for each of
different locations of the endocardium surface.
46. The method of claim 45, further comprising displaying at least
a portion of the determined physiological information.
47. A system comprising: a catheter configured to be inserted into
a heart cavity having an endocardium surface, the catheter
comprising multiple, spatially distributed electrodes, the multiple
electrodes configured to measure signals in response to electrical
activity in the heart cavity with the catheter spaced from the
endocardium surface; and a processing unit configured to determine
physiological information at multiple locations of the endocardium
surface based on the measured signals and the position of the
electrodes with respect to the endocardium surface; wherein the
signals are measured during multiple electrical heart beat cycles
and wherein the processing unit configured to determine
physiological information is further configured to, at least in
part, combine information derived from the signals for different
heart beat cycles; and wherein the processing unit configured to
combine information is further configured to integrate information
derived from the signals for common phases of the electrical heart
beat cycles.
48. The system of claim 47, further comprising: a sensor device
configured to interact with the processing unit to determine the
position of the catheter electrodes with respect to the endocardium
surface; wherein the catheter is further configured to move to each
of multiple, different positions in the heart cavity for which the
catheter is spaced from the endocardium surface; wherein, for each
of the different catheter positions, the sensor device is
configured to determine the positions of the catheter electrodes
with respect to the endocardium surface and the catheter electrodes
are configured to measure signals at the catheter electrodes in
response to electrical activity in the heart cavity; and wherein
the processing unit is configured to determine the physiological
information at the multiple locations of the endocardium surface
based further on the positions of the catheter electrodes and the
measured signals at the different catheter positions.
49. The system of claim 47, wherein the integrated information
comprises integrated electric potentials on the endocardium surface
for common phases of the multiple electrical heart cycle.
50. The system of claim 47, wherein the information derived from
the signals for different heart beat cycles comprises a maximum
voltage amplitude for each of the different heart beat cycles at
different ones of the endocardium surface locations.
51. The system of claim 50, wherein the processing unit configured
to combine information is further configured to average together
the maximum voltage amplitudes for the different heart beat
cycles.
52. The system of claim 51, wherein the processing unit configured
to average is further configured to perform a weighted averaging
operation.
53. The system of claim 47, further comprising a display device
configured to display at least a portion of the determined
physiological information, the determined physiological information
includes at least one of: electrical potential values at the
multiple locations of endocardium surface at each of one or more
different phases of the heart beat cycle, a maximum voltage
amplitude for one or more heart beat cycles at different ones of
the endocardium surface locations, a frequency representation of
electrical activity at multiple locations of the endocardium
surface during the heart beat cycle, wherein the frequency
representation is computed based on electrical potential values at
the multiple locations of endocardium surface at different phases
of the heart beat cycle, and an activation time for each of
different locations of the endocardium surface.
54. A method comprising: inserting a catheter into a heart cavity
having an endocardium surface, the catheter comprising multiple,
spatially distributed electrodes; moving the catheter to each of
multiple, different positions in the heart cavity for which the
catheter is spaced from the endocardium surface; for each of the
different catheter positions, determining the positions of the
catheter electrodes with respect to the endocardium surface and
measuring signals at the catheter electrodes in response to
electrical activity in the heart cavity; determining physiological
information at multiple locations of the endocardium surface based
on the determined positions of the catheter electrodes and the
measured signals at the different catheter positions; wherein the
signals are measured for at least one electrical heart cycle for
each catheter position; the determination of the physiological
information at the multiple locations of the endocardium surface
comprises synchronizing the signals measured at the different
catheter positions with one another according to an electrical
heart beat cycle; and the determination of the physiological
information at the multiple locations of the endocardium surface
further comprises applying a transformation function to the
synchronized signals, wherein the transformation function relates
signals measured from at least some of the different positions of
the catheter in the heart cavity to the physiological information
at the multiple locations of the endocardium surface.
55. A system comprising: a catheter configured to be inserted into
a heart cavity having an endocardium surface and to move to each of
multiple positions in the heart cavity for which the catheter is
spaced from the endocardium surface, the catheter comprising
multiple, spatially distributed electrodes, the multiple electrodes
configured to measure signals in response to electrical activity in
the heart cavity; a sensor device configured to determine, for each
of the different catheter positions, the positions of the catheter
electrodes with respect to the endocardium surface; and a
processing unit configured to determine physiological information
at multiple locations of the endocardium surface based on the
determined positions of the catheter electrodes and the measured
signals at the different catheter positions; wherein the processing
unit is further configured to apply a transformation function to
the synchronized signals, wherein the transformation function
relates signals measured from at least some of the different
positions of the catheter in the heart cavity to the physiological
information at the multiple locations of the endocardium
surface.
56. A system comprising: a catheter configured to be inserted into
a heart cavity having an endocardium surface and to move to each of
multiple positions in the heart cavity for which the catheter is
spaced from the endocardium surface, the catheter comprising
multiple, spatially distributed electrodes, the multiple electrodes
configured to measure signals in response to electrical activity in
the heart cavity; a sensor device configured to determine, for each
of the different catheter positions, the positions of the catheter
electrodes with respect to the endocardium surface; and a
processing unit configured to determine physiological information
at multiple locations of the endocardium surface based on the
determined positions of the catheter electrodes and the measured
signals at the different catheter positions; wherein the processing
unit configured to determine the physiological information at the
multiple locations of the endocardium surface is configured to
determine multiple estimates of the physiological information for
each of at least some of the locations on the endocardium based on
the measured signals corresponding to at least some of the
different catheter positions.
57. A system comprising: a catheter configured to be inserted into
a heart cavity having an endocardium surface and to move to each of
multiple positions in the heart cavity for which the catheter is
spaced from the endocardium surface, the catheter comprising
multiple, spatially distributed electrodes, the multiple electrodes
configured to measure signals in response to electrical activity in
the heart cavity; a sensor device configured to determine, for each
of the different catheter positions, the positions of the catheter
electrodes with respect to the endocardium surface; and a
processing unit configured to determine physiological information
at multiple locations of the endocardium surface based on the
determined positions of the catheter electrodes and the measured
signals at the different catheter positions; wherein the sensor
device is further configured to determine the position of the
catheter with respect to the endocardium surface further configured
to register a representation of the endocardium surface, the
representation having been obtained prior to inserting the catheter
into the heart cavity, with the first coordinate system.
58. A method comprising: inserting a catheter into a heart cavity
having an endocardium surface, the catheter comprising multiple,
spatially distributed electrodes; measuring signals at the catheter
electrodes in response to electrical activity in the heart cavity
with the catheter spaced from the endocardium surface; and
determining physiological information at multiple locations of the
endocardium surface based on the measured signals and positions of
the electrodes with respect to the endocardium surface; wherein the
signals are measured during multiple electrical heart beat cycles
and wherein the physiological information is determined, at least
in part, by combining information derived from the signals for
different heart beat cycles; and wherein the information derived
from the signals for different heart beat cycles comprises a
maximum voltage amplitude for each of the different heart beat
cycles at different ones of the endocardium surface locations.
59. A system comprising: a catheter configured to be inserted into
a heart cavity having an endocardium surface, the catheter
comprising multiple, spatially distributed electrodes, the multiple
electrodes configured to measure signals in response to electrical
activity in the heart cavity with the catheter spaced from the
endocardium surface; and a processing unit configured to determine
physiological information at multiple locations of the endocardium
surface based on the measured signals and the position of the
electrodes with respect to the endocardium surface; wherein the
signals are measured during multiple electrical heart beat cycles
and wherein the processing unit configured to determine
physiological information is further configured to, at least in
part, combine information derived from the signals for different
heart beat cycles; wherein the information derived from the signals
for different heart beat cycles comprises a maximum voltage
amplitude for each of the different heart beat cycles at different
ones of the endocardium surface locations.
Description
TECHNICAL FIELD
This invention relates to the determination and representation of
physiological information relating to a heart surface using a
non-contact catheter.
BACKGROUND
Cardiac arrhythmias are a leading cause of stroke, heart disease
and sudden death. The physiological mechanism of arrhythmia
involves an abnormality in the electrical conduction of the heart.
There are a number of treatment options for patients with
arrhythmia which include medication, implantable devices, and
minimally invasive procedures.
Minimally invasive procedures, such as catheter ablation, have
evolved in recent years to become an established treatment for
patients with a variety of supraventricular and ventricular
arrhythmias. A typical minimally invasive procedure involves
mapping of the heart tissue in order to identify the site of origin
of the arrhythmia followed by a targeted ablation of the site.
Other minimally invasive procedures involve the delivery of
biological agents such as cells or genes as a form of therapy to
the identified site of origin of the arrhythmia. The procedure
takes place in an electrophysiology laboratory and takes several
hours, most of which is spent mapping the electrical conduction in
the heart.
Conventional 3D mapping techniques include contact mapping and
non-contact mapping. In contact mapping techniques one or more
catheters are advanced into the heart. Physiological signals
resulting from the electrical activity of the heart are acquired
with one or more electrodes located at the catheter distal tip
after determining that the tip is in stable and steady contact with
the endocardium surface of a particular heart chamber. Location and
electrical activity is usually measured sequentially on a
point-by-point basis at about 50 to 200 points on the internal
surface of the heart to construct an electro-anatomical depiction
of the heart. The generated map may then serve as the basis for
deciding on a therapeutic course of action, for example, tissue
ablation, to alter the propagation of the heart's electrical
activity and to restore normal heart rhythm. Although the
electrode(s) contacting the endocardium surface enable a relatively
faithful acquisition of physiological signals with minimal signal
degradation, contact-based mapping techniques tend to be time
consuming since the catheter, and thus its electrodes, have to be
moved to a relatively large number of locations in the heart cavity
to acquire sufficient data to construct the electro-anatomical
depiction of the heart. Additionally, moving the catheter to
different locations so that the catheter's electrode(s) touch the
endocardium is a cumbersome process that is technically
challenging. Further complicating the contact-based mapping
methodology is the occurrence of unstable arrhythmias condition.
Particularly, ventricular tachyarrhythmias may compromise the
heart's ability to circulate blood effectively. As a result, the
patient cannot be maintained in fast tachyarrhythmia's for more
than a few minutes, which significantly complicates the ability to
map during the arrhythmia. In addition, some arrhythmia's are
transient or non-periodic in nature. Contact-based sequential
mapping, therefore, is less suitable for mapping these arrhythmia's
since the sequential contact-based methodology is predicated on the
assumption that recorded signals are periodic in nature.
On the other hand, in non-contact-based mapping systems a multiple
electrodes catheter is percutaneously placed in the heart chamber
of interest. Once in the chamber, the catheter is deployed to
assume a 3D shape. Using the signals detected by the non-contact
electrodes and information on chamber anatomy and relative
electrode location, the system provides physiological information
regarding the endocardium of the heart chamber. Although
non-contact mapping techniques can simultaneously acquire signals
using the multiple electrodes catheter and thus enable faster
reconstruction of the electrical activity on the endocardial
surface, because the catheter's multiple electrodes are not in
contact with the endocardium surface some loss of accuracy of the
reconstructed map, which is proportional to the distance from the
endocardium, occurs due to the degradation of the signals acquired
by the multiple electrodes. Moreover, the computation of the
complex transformations required to transform the signals acquired
by the catheter's electrodes to determine the corresponding
reconstructed information at the endocardium surface is relatively
time consuming. Also, the accuracy of the reconstructed information
is constrained by the number of electrodes that can be attached to
the catheter.
SUMMARY
In one aspect, a non-contact cardiac mapping method is disclosed
that includes: (i) inserting a catheter into a heart cavity having
an endocardium surface, the catheter including multiple, spatially
distributed electrodes; (ii) measuring signals at the catheter
electrodes in response to electrical activity in the heart cavity
with the catheter spaced from the endocardium surface; and (iii)
determining physiological information at multiple locations of the
endocardium surface based on the measured signals and positions of
the electrodes with respect to the endocardium surface.
Embodiments may further include one or more of the following
features:
The method may further include moving the catheter to each of
multiple, different positions in the heart cavity for which the
catheter is spaced from the endocardium surface, and, for each of
the different catheter positions, determining the positions of the
catheter electrodes with respect to the endocardium surface and
measuring signals at the catheter electrodes in response to
electrical activity in the heart cavity. The determination of the
physiological information at the multiple locations of the
endocardium surface is based further on the positions of the
catheter electrodes and the measured signals at the different
catheter positions.
The number of catheter positions at which the signals are measured
and used to determine the physiological information at the multiple
locations of the endocardium surface may be more than three. In
some embodiments the number of catheter positions at which the
signals are measured is more than five, and in some other
embodiments the number of catheter positions at which the signals
are measured is more than ten.
Typically, the catheter is moved over a range larger than about one
third of the diameter of the heart cavity to measure the signals
used to determine the physiological information at the multiple
locations of the endocardium surface.
The signals may be measured for at least one electrical heart cycle
for each catheter position.
The determination of the physiological information at the multiple
locations of the endocardium surface may include synchronizing the
signals measured at the different catheter positions with one
another according to an electrical heart beat cycle.
The measured signals may be synchronized based on physiological
data including, for example, ECG and/or intercardiac
electrograms.
The determination of the physiological information at the multiple
locations of the endocardium surface may further include processing
the synchronized signals as though they were obtained at one time
from all of the positions sampled by the catheter electrodes for
the different positions of the catheter in the heart cavity.
The determination of the physiological information at the multiple
locations of the endocardium surface may further include applying a
transformation function to the synchronized signals. The
transformation function relates signals measured from at least some
of the different positions of the catheter in the heart cavity to
the physiological information at the multiple locations of the
endocardium surface.
The determination of the physiological information at the multiple
locations of the endocardium surface may further include
determining the transformation function by calculating a forward
transformation for relating the physiological information at the
multiple locations of the endocardium surface to the signals
measured for the different positions of the catheter in the heart
cavity and inverting the forward transformation. Inverting the
forward transformation may include reformulating an underdetermined
matrix inversion by regularization. Inverting may include a least
squares minimization.
The determination of the physiological information at the multiple
locations of the endocardium surface may include determining
multiple estimates of the physiological information for each of at
least some of the locations on the endocardium based on the
measured signals corresponding to at least some of the different
catheter positions. The method may include processing the multiple
estimates to improve an accuracy of the physiological information.
The processing of the multiple estimates may also include averaging
the estimates. Averaging may be a weighted averaging.
Determining the position of the catheter electrodes with respect to
the endocardium surface may include using, for example, electric
fields, magnetic fields, fluoroscopy, and/or ultrasound to
determine a position of the catheter in a first coordinate system.
Determining the position of the catheter with respect to the
endocardium surface may further include registering a
representation of the endocardium surface with the first coordinate
system, the representation having been obtained prior to inserting
the catheter into the heart cavity.
The signals may be measured during multiple electrical heart beat
cycles, and the physiological information may be determined, at
least in part, bycombining information derived from the signals for
different heart beat cycles.
The combining may include integrating information derived from the
signals for common phases of the electrical heart beat cycles. The
integrated information may include integrated electric potentials
on the endocardium surface for common phases of the multiple
electrical heart cycle.
The information derived from the signals for different heart beat
cycles may include, for example, a maximum voltage amplitude for
each of the different heart beat cycles at different ones of the
endocardium surface locations. The combining may include averaging
together the maximum voltage amplitudes for the different heart
beat cycles. The averaging may be a weighted averaging.
The method may further include generating a representation of the
endocardium surface of a patient's heart cavity prior to inserting
the catheter into the heart cavity, and registering the
representation of the endocardium surface with a first coordinate
system used to determine the positions of the catheter electrodes
relative to the endocardium surface after the catheter is inserted
into the heart cavity.
The determination of the physiological information at the multiple
locations of the endocardium surface may be based on the positions
of the catheter electrodes, the measured signals at the different
catheter positions and the registered representation of the
endocardium surface.
Generating the representation of the endocardium surface may
include segmenting a volumetric representation of the heart cavity.
The volumetric representation may be obtained from, for example, a
coherence tomography (CT) image, a magnetic resonance imaging (MRI)
image and/or an ultrasound image. The volumetric representation may
be segmented into a substantially closed surface representation of
the endocardium surface.
Generating the representation of the endocardium surface may
include partitioning the representation into a plurality of surface
elements based on, for example, a numerical calculation technique
applied to facilitate computing of the physiological information at
the endocardium surface and/or characteristics of the endocardium
surface. The representation partitioned into a plurality of
elements may include, for example, a surface mesh comprising
triangles, a volumetric mesh comprising tetrahedra and/or a regular
Cartesian grid.
The method may further include contacting the catheter to the
endocardium surface at multiple locations to establish multiple
points of the endocardium surface in the first coordinate system.
The method may also include determining the position of the
catheter when it contacts the endocardium surface at the multiple
locations using, for example, electric fields, magnetic fields,
fluoroscopy, and/or ultrasound to determine the position of the
catheter in the first coordinate system. Registering may include
translating and orienting the surface representation in the first
coordinate system to fit the established points of the endocardium
surface in the first coordinate system.
The determining of the physiological information may include, prior
to inserting the catheter into the heart cavity, processing
information relating to characteristics of the endocardium
surface.
Processing information relating to characteristics of the
endocardium surface may include partially computing one or more
transformation functions for converting the signals measured at the
catheter electrodes to estimates of the physiological information
at the endocardium surface.
In some embodiments, each transformation function may be associated
with a different position within the heart cavity.
In some embodiments, each transformation function may be associated
with a different position and orientation of the catheter within
the heart cavity.
In some embodiments, each transformation function may be associated
with the respective positions of the catheter electrodes within the
heart cavity.
Determining of the physiological information may further include,
prior to inserting the catheter into the heart cavity, processing
information relating to the characteristics of the catheter.
The characteristics of the endocardium surface may be derived from
a pre-acquired representation of the endocardium surface.
The processing prior to inserting the catheter into the heart
cavity may be performed to expedite the determination of the
physiological information at the multiple locations of the
endocardium surface from the measured signals.
The transformation functions may be inverse transformation
functions, where the partial computation of the one or more inverse
transformation functions may include at least partially computing
one or more forward transformation functions for determining the
signals measured at the catheter electrodes from the physiological
information at the multiple locations of the endocardium surface,
each forward transformation function being associated with the
position of one or more catheter electrodes within the heart
cavity. Each forward transformation function may further be
associated with an orientation of the catheter within the heart
cavity. The catheter may be hollow.
At least partially computing the one or more forward
transformations may include processing information relating to the
shape of the endocardium surface.
At least partially computing the one or more forward
transformations may include processing information relating to the
distribution of the electrodes on the catheter.
At least partially computing the one or more forward
transformations may include fully computing the one or more forward
transformations based on the information relating to at least the
shape of the endocardium surface.
Determining the physiological information from the measured signals
may include inverting the forward transformation function
associated with the position of the catheter used to measure the
signals and applying the inverted forward transformation function
to the measured signals. Inverting the forward transformation may
include reformulating an underdetermined matrix inversion by
regularization. Inverting may further include performing a least
squares minimization. The inversion may further include a Tikhonov
regularization.
The one or more transformation functions can be expressed as one or
more matrices.
The method may further include computing values indicative of a
degree of spatial resolution of the determined physiological
information for at least some of the locations of the endocardium
surface.
The computed values may be derived, at least in part, from a
transformation function relating the physiological information at
the multiple locations of the endocardium surface to the signals
measured by the catheter electrodes.
The method may further include displaying at least a portion of the
endocardium surface to include at least some of the computed
resolution values. The method may further include overlaying on a
display device at least some of the physiological information
determined at the multiple surface locations.
The method may further include displaying at least a portion of the
endocardium surface to include a selected subset of the
physiological information determined at the multiple surface
locations, where the subset is selected based on at least some of
the computed resolution values.
The determined physiological information may include electrical
potential values at the multiple locations of endocardium surface
at different phases of the heart beat cycle. The method further may
include determining frequency dependent features of converting the
electrical potential values into a frequency representation of
electrical activity at multiple locations of the endocardium
surface during the heart beat cycle.
The method may further include displaying at least a portion of the
endocardium surface to include information about the frequency
representation at corresponding locations of the endocardium
surface.
The information about the frequency representation may include
information indicative of a dominant frequency in the frequency
representation.
The method may further include using the determined physiological
information to guide treatment of the heart cavity.
The treatment may include ablation of one or more selected regions
of the heart.
The treatment may include cell therapy, gene therapy, or
application of other biological agents.
The method may further includes repeating the measurement of
catheter electrode signals and the determination of the
physiological information after the treatment, and displaying a
difference map including information about how the determined
physiological information changed in response to the treatment.
The determined physiological information may include isopotential
lines or bands corresponding to sets of contiguous locations of the
multiple locations of endocardium surface having electrical
potential values that are equal or within a selected range. The
method may further include displaying at least a portion of the
endocardium surface to include at least some of the isopotential
lines. Displaying may include presenting the isopotential lines for
each of different phases of the heart beat cycle.
The determined physiological information may include electrical
potential values at the multiple locations of endocardium surface
at different phases of the heart beat cycle, and the method may
further include displaying at least a portion of the endocardium
surface to include information about the electric potential values.
Displaying information about the electric potential values may
include, for example, the maximum electrical potential during the
heart beat cycle for different locations of the endocardium surface
and/or the root mean square of the electrical potentials during the
heart beat cycle for different locations of the endocardium
surface.
The determined physiological information may include an activation
time for each of different locations of the endocardium surface.
The method may further include displaying at least a portion of the
endocardium surface to include representations indicative of the
activations times. The activation times within a common activation
time range are displayed with a common color or visual
indication.
The number of locations on the endocardium surface where
physiological information is determined may be more than 10 times
more than the number of electrodes on the catheter.
The catheter may be spaced from the endocardium surface by more
than about 3 mm when measuring the signals.
The method may further include displaying at least a portion of the
endocardium surface to include at least some of the physiological
information determined at the multiple surface locations.
The signals measured may be electrical signals. The signals
measured may be electric potential signals.
The physiological information may be electrical information. The
physiological information may include electrical potentials at the
multiple locations of the endocardium surface at each of one or
more phases of the heart cycle, and any information derivable there
from, such as: isopotential maps, maximum or RMS voltage maps,
activation time maps, and frequency maps.
Determining the position of the catheter electrodes may include
measuring information about, for example, a position and/or
orientation of the catheter within the heart cavity.
Determining the position of the catheter electrodes may be based
further on information about the distribution of the electrodes on
the catheter. Measuring information about, for example, a position
and/or orientation of the catheter within the heart cavity may
include measuring the position of one or more catheter electrodes
within the heart cavity.
Determining the position of the catheter electrodes may include
directly measuring the position of each catheter electrode within
the heart cavity.
In another aspect, a system is disclosed that includes a catheter
configured to be inserted into a heart cavity having an endocardium
surface, the catheter including multiple, spatially distributed
electrodes, the multiple electrodes configured to measure signals
in response to electrical activity in the heart cavity with the
catheter spaced from the endocardium surface. The system also
includes a processing unit configured to determine physiological
information at multiple locations of the endocardium surface based
on the measured signals and positions of the electrodes with
respect to the endocardium surface.
In certain embodiments, the system may further include a sensor
device configured to interact with the processing unit to determine
the positions of the catheter electrodes with respect to the
endocardium surface.
Embodiments of the system may include any feature corresponding to
any of the features as set forth above for the method. For example,
the processing unit can be configured (e.g., programmed) to carry
out one of more of the processing/determining type method steps
described above.
In a further aspect, disclosed is a computer program product
residing on a machine-readable medium for storing computer
instructions that, when executed, cause a processor-based machine
to receive from multiple, spatially distributed electrodes of a
catheter, after the catheter has been inserted into a heart cavity
having an endocardium surface, signals measured by the electrodes
in response to electrical activity in the heart cavity, with the
catheter spaced from the endocardium surface. The computer
instructions also cause the processor-based machine to determine
physiological information at multiple locations of the endocardium
surface based on the measured signals and positions of the
electrodes with respect to the endocardium surface.
Like the system aspect, embodiments of the computer program product
may include any feature corresponding to any of the features as set
forth above for the method.
The details of one or more embodiments of the invention are set
forth in the accompanying drawings and the description below. Other
features, objects, and advantages of the invention will be apparent
from the description and drawings, and from the claims.
DESCRIPTION OF THE DRAWINGS
FIG. 1 is a schematic diagram of an exemplary non-contact mapping
system.
FIG. 2 is a flow diagram of an exemplary non-contact mapping
procedure.
FIG. 3 is an exemplary illustration of a representation of the
endocardium surface.
FIG. 4 is an exemplary illustration of a meshed boundary
representation of an endocardium surface of a left atrium.
FIG. 5 is an illustration of an exemplary voltage map generated
using a linear color map matching scheme.
FIG. 6 is a flowchart of an exemplary embodiment of a catheter
registration procedure.
FIG. 7 is a flowchart of an exemplary embodiment of a procedure for
reconstructing physiological information from signals acquired by
the multiple electrodes of a catheter.
FIG. 8 is a flowchart of an exemplary embodiment of a procedure to
generate a resolution map.
FIG. 9 is a diagram showing a time and frequency representations of
an exemplary electrogram.
FIG. 10 is a flowchart of an exemplary embodiment of a procedure to
generate an activation time map.
FIG. 11 is a flowchart of an embodiment of an exemplary embodiment
of a procedure to generate a voltage map.
FIG. 12 is a schematic diagram showing signal phase alignment.
FIG. 13 is a flowchart of an exemplary embodiment of a procedure
for generating a frequency map.
Like reference symbols in the various drawings indicate like
elements.
DETAILED DESCRIPTION
Overview
Disclosed herein is a system and method for non-contact mapping and
presentation of physiological information in relation to an
endocardium surface of a heart chamber. In certain embodiments, the
non-contact mapping system uses a movable multi-electrode catheter
that is displaced to multiple locations within the heart chamber,
thereby improving the resolution and accuracy of data that can be
acquired by a single catheter. Transformation functions are
computed prior to the commencement of signal measurement and
acquisition of raw data to expedite the reconstruction process to
assemble the physiological information provided to a user.
FIG. 1 shows a schematic diagram of an exemplary embodiment of a
non-contact system 100. The non-contact system 100 includes a
moveable catheter 110 having multiple spatially distributed
electrodes. During the signal acquisition stage of the non-contact
mapping procedure the catheter 110 is displaced to multiple
locations within the heart chamber into which catheter 110 is
inserted.
In some embodiments the distal end of the catheter 110 is fitted
with multiple electrodes spread somewhat uniformly over the
catheter. For example, the electrodes may be mounted on the
catheter 110 following a 3D olive shape. The electrodes are mounted
on a device capable of deploying the electrodes into the desired
shape while inside the heart, and retracting the electrodes when
the catheter is removed from the heart. To allow deployment into a
3D shape in the heart, electrodes may be mounted on a balloon, or
shape memory material such as Nitinol.
At each of the locations to which the catheter 110 is moved, the
catheter's multiple electrodes acquire signals resulting from the
electrical activity in the heart cavity in a non-contact manner.
Thus, at each of the locations to which the catheter 110 is moved,
the catheter is spaced from the endocardium surface. Consequently,
reconstructing and presenting to a user (such as a doctor and/or
technician) physiological data pertaining to the heart's electrical
activity may be based on information acquired at multiple
locations, thereby providing a more accurate and faithful
reconstruction of physiological behavior of the endocardium
surface. The acquisition of signals at multiple catheter locations
in the heart chamber enables the catheter to effectively act as a
"mega-catheter" whose effective number of electrodes and electrode
span is proportional to the product of the number of locations in
which signal acquisition is performed and the number of electrodes
the catheter has.
To enhance the quality of the reconstructed physiological
information at the endocardium surface, in some embodiments the
catheter 110 is moved to more than three locations (for example,
more than 5, 10, or even 50 locations) within the heart chamber.
Further, the spatial range over which the catheter is moved may be
larger than one third (1/3) of the diameter of the heart cavity
(for example, larger than 35%, 40%, 50% or even 60% of the diameter
of the heart cavity). Additionally, as will be described in further
details below, in some embodiments the reconstructed physiological
information is computed based on signals measured over several
heart beats, either at a single catheter location within the heart
chamber or over several locations. In circumstances where the
reconstructed physiological information is based on multiple
measurements over several heart beats, the measurements are
synchronized with one another so that the measurement are performed
at approximately the same phase of the heart cycle. The signal
measurements over multiple beats can be synchronized based on
features detected from physiological data such as surface ECG or
intracardiac electrograms.
Non-contact mapping system 100 further includes the processing unit
120 which performs several of the operations pertaining to the
non-contact mapping procedure, including the reconstruction
procedure to determine the physiological information at the
endocardium surface. As will be described in more details below,
the reconstruction of physiological information (e.g., electrical
potentials) at the endocardium surface includes the computations of
transform functions corresponding to the solution of the partial
differential equations that define the relationship between
acquired signals measured by the catheter's multiple electrodes and
the physiological behavior (e.g., the electrical potential
behavior) of the endocardium surface. We generally refer to the
"forward" transform or transformation as the mathematical operation
that provides the signals measured by the catheter electrodes based
on the electrical activity at different locations of the
endocardium surface. Because there are typically many more
endocardium surface locations than catheter electrodes this forward
transformation is generally well-defined. We generally refer to the
"inverse" transform as some type of mathematical inversion of this
forward transformation to provide information about the electrical
activity at the different locations of the endocardium surface
based on the measured signals at the catheter electrodes. The
reconstruction process also includes the computation of inverse
transform functions based on a regularization scheme to determine
the physiological information at the endocardium surface based on
the acquired signals at the multiple electrodes. Thus, the
computational effort involved in the reconstruction process is
considerable.
Accordingly, to expedite the computational operations performed by
the non-contact mapping system 100, the processing unit 120 can
compute, generally prior to the insertion of the catheter into the
heart chamber and/or before signal acquisition by the catheter's
electrodes has commenced, transformation functions that can be used
in real-time to facilitate the reconstruction process. More
specifically, the transformation functions that are applied to the
raw data can be represented in terms of individual transformation
components. The individual transformation components include, for
example, transformation components corresponding to chamber
anatomy, and/or the geometry of the catheter. Thus, to expedite the
reconstruction procedure for generating the endocardium surface's
physiological information, the processing unit 120 computes
transformation functions pertaining to the chamber's geometry
and/or the catheter's geometry, and those components are combined
during the reconstruction process with other transformation
functions to form the overall inverse transform function.
Since the overall inverse transform that is applied to the raw data
depends on the particular location of the catheter 110 (for
example, position and/or orientation) in the heart chamber, in some
embodiments the reconstruction process can be further expedited by
pre-computing the forward transform for multiple catheter and/or
electrode locations. Because forward transforms have to be computed
individually for the possible catheter and/or electrode locations,
the number of pre-computed forward transforms will be related to
the number of possible locations that the catheter 110 may take in
the heart chamber.
Once the catheter 110 is inserted and is displaced to a particular
location in the heart chamber, the mapping procedure can be
performed expeditiously by computing in real-time those
transformation components that could not be computed ahead of the
signal acquisition stage, and combining those components with the
appropriate pre-processed transformation components to obtain the
overall transformation function(s). That overall transformation
function is applied to the acquired raw data to perform the inverse
reconstruction operation.
In addition to computing the pre-processed partial transformation
functions, the processing unit 120 also performs a catheter
registration procedure. The location of the catheter 110 inserted
into the heart chamber can be determined using a conventional
sensing and tracking system (not shown) that provide the 3D spatial
coordinates of the catheter and/or its multiple electrodes with
respect to the catheter's coordinate system as established by the
sensing and tracking system. However, to perform the mapping
procedure and reconstruct physiological information on the
endocardium surface, it is necessary to align the coordinate system
of the catheter 110 with the endocardium surface's coordinate
system. As will be described below in greater detail, the
processing unit 120 (or some other processing module of system 100)
determines a coordinate system transformation function that
transforms the 3D spatial coordinates of the catheter's locations
into coordinates expressed in terms of the endocardium surface's
coordinate system, or vice-versa.
As will become apparent below, the processing unit 120 also
performs post-processing operations on the reconstructed
physiological information to extract and display useful features of
the information to the operator of the system 100 and/or other
persons (e.g., a physician).
As also shown in FIG. 1, the non-contact mapping system 100
includes the image acquisition and preparation module 130. The
acquisition and preparation module 130 receives volumetric images
(e.g., CT, MRI or ultrasound images taken by a scanner apparatus)
of the torso, and processes them, using a procedure referred to as
segmentation, to obtain a representation of the endocardium
surface. Mapping of the data acquired by the multiple electrodes of
catheter 110 is performed with reference to the representation of
the endocardium surface. Once the boundary representation is
constructed from the volumetric data, the boundary and or chamber
volume representation is partitioned into elements whose
characteristics are determined in accordance with, among other
things, the types of numerical calculation techniques that are used
to perform the mapping, as well as the overall geometry and
characteristics of the endocardium surface as determined during the
segmentation process from the acquired volumetric images.
As further shown in FIG. 1, the signals acquired by the multiple
electrodes of catheter 110 are passed to the processing unit 120
via the signal conditioning module 140. The signal conditioning
module 140 receives the signals communicated from the catheter 110
and performs signal enhancement operations on the signals before
they are forwarded to the processing unit 120. Signal conditioning
hardware is required to amplify, filter and continuously sample
intracardiac potential measured by each electrode. The intracardiac
signals typically have a maximum amplitude of 60 mV, with a mean of
a few millivolts. In some embodiments the signals are bandpass
filtered in a frequency range (e.g., 0.5-500 Hz) and sampled with
analog to digital converters (e.g., with 15-bit resolution at 1
kHz). To avoid interference with electrical equipment in the room,
the signal can be filtered to remove the frequency corresponding to
the power supply (e.g., 60 Hz). Other types of signal processing
operations such as spectral equalization, automatic gain control,
etc. may also take place. The resultant processed signals are
forwarded by the module 140 to the processing unit 120 for further
processing.
In some embodiments, the signal conditioning module 140 is
implemented by use of integrated components on a dedicated printed
circuit board. In other embodiments, some of the signal
conditioning tasks may be implemented on a CPU, FPGA or DSP after
sampling. To accommodate safety regulations, the signal
conditioning module is isolated from high voltage power
supplies.
The processing unit 120, image acquisition and preparation module
130 shown in FIG. 1 is a processor-based device that includes a
computer and/or other types of processor-based devices suitable for
multiple applications. Such devices can include volatile and
non-volatile memory elements, and peripheral devices to enable
input/output functionality. Such peripheral devices include, for
example, a CD-ROM drive and/or floppy drive, or a network
connection, for downloading related content to the connected
system. Such peripheral devices may also be used for downloading
software containing computer instructions to enable general
operation of the respective unit/module, and for downloading
software implemented programs to perform operations in the manner
that will be described in more detailed below with respect to the
various systems and devices shown in FIG. 1. Alternatively, the
various units/modules may be implemented on a single
processor-based platform capable of performing the functions of
these units/modules. Additionally or alternatively, one or more of
the procedures performed by the processing unit 120 and/or image
acquisition module 130 and/or signal conditioning module 140 may be
implemented using processing hardware such as digital signal
processors (DSP), field programmable gate arrays (FPGA),
mixed-signal integrated circuits, etc. The signal conditioning
module 140 is typically implemented using analog hardware augmented
with signal processing capabilities provided by DSP, CPU and FPGA
devices.
As further shown in FIG. 1, the non-contact mapping system 100 also
includes peripheral devices such as printer 150 and/or display
device 170, both of which are interconnected to the processing unit
120. Additionally, the non-contact mapping system 100 includes
storage device 160 that is used to store data acquired by the
various interconnected modules, including the volumetric images,
raw data measured by electrodes and the resultant endocardium
representation computed there from, the partially computed
transformations used to expedite the mapping procedures, the
reconstructed physiological information corresponding to the
endocardium surface, etc.
FIG. 2 is a flow diagram providing a top-level depiction of the
various procedures performed by the system 100 in the course of
performing the non-contact mapping procedure 200. As shown, the
system 100 initially acquires at 202 volumetric cardiac
representations of a patient's heart. Such volumetric
representations may include high-resolution CT, MRI and/or
ultrasonic slice images providing data regarding the geometry and
characteristic of the patient's heart. The volumetric data may be
acquired in advance of the commencement of other procedures
comprising the non-contact mapping procedure. For example, the
volumetric data may be obtained days or weeks prior to the
catheter-insertion procedure. The volumetric data is initially
received by the image acquisition and preparation module 130 shown
in FIG. 1, but may subsequently be stored for future processing in
storage module such as storage device 160.
Once volumetric data has been acquired, the image acquisition and
preparation module 130 uses the acquired data to segment the
volume, at 204, and provide a surface representation for a specific
chamber into which the catheter will be inserted. The segmented
volume is closed to allow numerical computations and partitioned to
include surface elements whose geometry and/or other
characteristics are based on the geometry of the surface
representation, the type of numerical computation procedure used in
the to generate forward transform functions, etc. In some
embodiments, multiple endocardium surface representations may be
generated, each of which corresponding to a different phase of the
heart's cycle. For example, separate representations for the
endocardium surface at multiple phases in the cardiac cycle such as
systole and end diastole may be generated. Subsequent
reconstruction of physiological information may then be performed
with respect to the appropriate endocardium surface representation,
depending at what phase of the heart cycle raw data was
acquired.
With the geometries of catheter and the endocardium surface
representation having been determined or otherwise known, the
non-contact mapping procedure pre-computes at 206 transformation
functions that thereafter can be quickly retrieved during the
reconstruction of physiological information, thereby expediting the
computation of the reconstruction transformations in real-time. The
pre-processed transformation functions are represented and stored
in the form of look-up tables, in the form of matrices, functional
representations, or the like. Individual transformation functions
correspond to one or more of the multiple locations within the
heart chamber to which electrodes and/or the moveable catheter 110
may be moved during the non-contact mapping procedure. Other
pre-computed transformations may correspond to the various heart
shapes with respect to which the physiological information is
determined. The pre-computed transformation functions may either be
stored on a local storage module forming part of the processing
unit 120, or may be alternatively stored on storage device 160.
The catheter 110 is inserted into the heart chamber to be studied
at 208. The catheter 110 is typically inserted into the heart
chamber via a suitable blood vessel leading to the heart chamber.
In some embodiments, the electrodes of the catheter 110 are bundled
into a compact configuration that enables the catheter 110 to be
delivered to the heart chamber with minimal obstruction. Once
inside the heart chamber, the electrodes of the catheter are
deployed into a specified electrode arrangement relative to the
catheter 110. During the mapping procedure 200, the moveable
catheter 110 is displaced to multiple locations within the heart
chamber, whereupon the catheter's electrodes acquire and record
signals (e.g., electrical signals) resulting from the electrical
activity of the heart.
As explained above, to reconstruct the physiological information of
the endocardium surface, the system 100 applies reconstruction
transformations on the signals acquired by the multiple electrodes
of the catheter 110. Because the transformations applied to the
acquired signals depends, among other things, on the location of
the catheter relative to the endocardium surface, the mapping
procedure first establishes the location of the catheter 110 with
respect to the endocardium surface's coordinate system.
Accordingly, the non-contact mapping system 100 determines at 208
the 3D location of the catheter in a 3D coordinate system that
corresponds to a sensing and tracking system used to locate the
physical location of the catheter 110. In some embodiments, the
location of the electrodes relative to the catheter 110 is fixed
and known, and thus the only information that needs to be
determined is the location and orientation of the catheter 110 in
the 3D space established by the sensing and tracking system.
Specifically, a sensor that is affixed to the catheter 110 may be
used to determine the location and orientation of the catheter. In
other embodiments the location and orientation of the various
electrodes relative to the catheter may vary, and accordingly in
such embodiments sensors attached proximate to the various
electrodes may be used to facilitate the determination of the
location of the catheter and/or its electrodes or by using a scheme
that localizes electrode location using electrical impedance.
The sensing and tracking system employed to determine the 3D
location of the catheter could be based, for example, on
electromagnetic radiation tracking. In this method, electromagnetic
fields are generated outside the patient body. A collection of
miniaturized coils oriented to detect orthogonal magnetic fields
forming a sensor are placed inside the catheter to detect the
generated magnetic fields. A processing unit determines the
location and orientation of the sensor based on amplitude and phase
information in the signal detected by the multiple coils.
Alternatively and/or additionally, the sensing and tracking system
may be based on ultrasound, impedance or fluoroscopy tracking. In
impedance and fluoroscopy tracking it is possible to locate the
electrode location without necessitating dedicated sensors. In the
case of impedance, electrical potential generated by electric field
generators are detected by the existing electrodes. In case of
fluoroscopy, electrode location may be detected by an image
processing scheme that identifies and tracks the electrodes and/or
opaque markers located on the catheter.
As will be described in greater details below, to perform the
registration procedure, the 3D coordinates of the catheter 110 at
various locations on the endocardium surface are determined. Thus,
as shown at 210, an operator moves the catheter 110 inside the
heart chamber until it determines that the catheter, or one or more
of its electrodes, touches the endocardium surface. The 3D spatial
coordinates of the catheter (and/or its electrodes) at that point
on the endocardium surface is determined. The operator then moves
the catheter 110 to additional points on the endocardium surface,
and the 3D coordinates of the catheter 110 relative to the sensing
and tracking system employed, at those additional points on the
endocardium surface are determined.
It will be appreciated that while the 3D spatial coordinates of the
catheter at various points on the endocardium surface relative to
the sensing and tracking system's coordinate system are known, the
identity of those points on the endocardium surface is not known.
In other words, neither the identity nor the actual coordinates
(with respect to the endocardium surface's coordinate systems) of
the points at which the catheter touches the endocardium surface
are known.
Accordingly, to determine the identity of the endocardium surface
points corresponding to the catheter's 3D spatial locations, and
thus determine the relationship between the endocardium surface's
coordinate system and the catheter's 3D coordinate system, the two
coordinate system have to be aligned. To align the two coordinate
systems, a coordinate system transformation is computed at 212 that
best matches the 3D locations of the catheter 110 at the
endocardium surface, as determined at 210, to points on the
endocardium surface that was determined at 204. Put another way,
since the general geometry of the endocardium surface is known
(from the computation at 204), and since the 3D coordinates at
several points where the catheter 110 touches the endocardium
surface are likewise known, the alignment procedure determines the
optimal transformation that would cause the endocardium points
expressed in the catheter's 3D coordinate system to be congruent
with the endocardium surface representation that was determined
from the volumetric data. Optimization techniques, such as
least-square error computation procedures and/or other mathematical
regression and curve-fitting techniques, are used to align the
catheter's 3D coordinate system and the endocardium surface
representation. In some embodiments the determination of the
transformation function that aligns the two coordinate systems can
be based on as few as three (3) points on the endocardium surface
with respect to which the 3D spatial coordinates have been
determined. More points may be used to compute the transformation
function, depending on the desired accuracy and the acceptable
computation effort that may be undertaken.
In some embodiments, the catheter registration procedure to align
the endocardium surface's coordinate system with the coordinate
system used to determine the 3D location of the catheter 110 yields
a six (6) parameter transformation that includes three (3)
displacement parameters (x.sub.0,y.sub.0,z.sub.0) and three
rotation parameters (.theta..sub.0, .phi..sub.0, .psi..sub.0).
These transformation parameters are subsequently applied to 3D
spatial coordinates obtained by the sensing and tracking system
used to determine the catheter's spatial coordinates to obtain the
catheter's locations in terms of the endocardium surface's
coordinate system.
Advantageously, generating a representation of the endocardium
surface based on the pre-acquired volumetric data separately from
determining the location of the catheter relative to the
endocardium surface provides an accurate representation of the
endocardium surface not attainable by sequential contact
mapping.
Once the registration procedure is performed, the catheter 110 is
moved, at 214, to a first location within the heart chamber in
which the first set of measurement by the catheter's multiple
electrodes is performed. Control of the catheter's movement and
location within the heart chamber is performed manually by the
operator manipulating the catheter 110. Alternatively, the movement
of the catheter 110 within the heart chamber may be automated by
use of techniques such as magnetic (see, e.g., Stereotaxis, Inc. of
St. Louis, Mo.) or robotic (see, e.g., Hansen Robotics, Inc.)
navigation. Catheter manipulation may be used to cause the catheter
to follow a pre-determined displacement route to collect data at
locations that may be considered to be of higher interest than
others. For example, in some embodiments the catheter 110 may be
moved at specified displacement intervals in an area of the heart
chamber that is known have abnormal cardiac activity.
The 3D location of the catheter 110 is then determined using one of
the techniques discussed previously 110 and/or to its multiple
electrodes, thereby providing the catheter's spatial location in
the catheter's coordinate system. The coordinates of the catheter
110 and/or its multiple electrodes relative to the endocardium
surface (i.e., in the endocardium's coordinate system) are then
computed using the coordinate system transformation function
determined at 212.
At its current location, the multiple electrodes of the catheter
110 acquire at 216 signals resulting from the heart's electrical
activities. In some embodiments the signals are electrical signals
(e.g., potential, current, magnetic, etc.).
The non-contact mapping system 100 generates at 218 reconstruction
transformation functions to be applied on the acquired signals to
reconstruct the physiological information at the endocardium
surface. The generated reconstruction transformation functions are
based, among other things, on the pre-computed reconstruction
transformation functions that were determined at 206, and the
catheter's location relative to the endocardium surface. Thus, in
some embodiments, for every location of the catheter 110 at which
raw data is acquired, a corresponding set of reconstructed
physiological information is computed.
As further shown in FIG. 2, after the raw data corresponding to the
heart's electrical activity has been acquired, recorded and
processed using reconstruction transformation function(s) to obtain
reconstructed physiological information at the endocardium surface,
a determination is made, at 220, whether there are additional
locations within the heart chamber to which the catheter 110 is to
be moved. If there are additional locations in the heart chamber to
which the catheter 110 needs to be moved the catheter is moved,
using manual or automatic control, to the next location in the
heart chamber, whereupon the operation described in relation to the
blocks 214-218 in FIG. 2 are performed for that next location.
Alternatively, in some embodiments, a composite resultant set of
physiological information can be generated by selecting from
multiple sets of reconstructed physiological information portions
of the reconstructed information. As will become apparent below,
selecting which portions of reconstructed information to use can be
based on resolution maps that are indicative of the quality of the
reconstructed information for a particular portion or set of the
reconstructed physiological information. Other criteria and
technique for selecting suitable portions of data to reconstruct a
composite set of physiological information may be used.
Alternatively, in some embodiments, one (or more) composite
reconstruction transformation function is computed that is applied
collectively to the raw data acquired at multiple locations to
generate a resultant composite set of reconstructed physiological
information based on a substantial part of the data acquired. Such
a transformation function represents a "mega transformation
function" that corresponds to the "mega catheter" referred to
above, whose effective number of electrodes and electrode span is
related to the number of locations to which the catheter was moved
within the heart chamber. Under those circumstances the generation
of the composite reconstruction transformation function is deferred
until data is collected from the catheter's multiple locations.
Alternatively, in some embodiments, the "mega transformation
function" and "mega catheter" may be updated on an ongoing basis to
take into account a given relevant measurement window. This window
may be a fixed number of measurements such that the arrival of new
measurements displaces measurements that were obtained before the
time window. This yields a constantly updating moving average.
In some embodiments, signals are measured throughout a heart beat
cycle (for example, a measurement can be made at each catheter
electrode at each of multiple, different phases of a single beat
heart cycle).
Yet in further embodiments the reconstructed set of physiological
information is computed based on measurements taken over one or
more heart beats. In the latter situation, the catheter is moved to
a particular location, and acquires multiple sets of raw data over
several heart beats. The acquired data is averaged, and the
reconstruction process is applied to the averaged values. As will
become apparent below, if the data is acquired over B heart beats
(i.e., B measurements), an improvement in the signal-to-noise ratio
proportional to {square root over (B)} is obtained. The timing of
the measurement operation is generally synchronized to ensure that
measured data is acquired at approximately the same phase of the
heart cycle.
If it is determined at 220 that there are no additional locations
within the heart chamber at which data needs to be collected, then
the non-contact mapping system performs at 222 post-processing
operations on the reconstructed physiological information to
extract clinically useful data. As noted, in some embodiments the
non-contact mapping system 100 produces a composite reconstructed
set of physiological information. Post processing operation are
performed, under those circumstances, on the composite set of
reconstructed physiological information. In some circumstances
where the non-contact mapping system 100 produces multiple
reconstructed sets of physiological information for the raw data
collected at each location in the heart chamber to which the
catheter 110 was moved, the post processing operations are
performed individually on one or more sets of reconstructed
physiological information.
In some embodiments, the post processing may involve nothing
further then selecting a format for outputting (e.g., displaying)
the reconstructed potentials to a user. In other embodiments, the
post-processing may involve significant further mathematical
manipulation of the reconstructed potentials to provide additional
types of physiological information.
The reconstructed physiological information and/or sets of
post-processed data are then displayed at 224. The information, be
it the reconstructed physiological information or any data
resulting from the post-processing performed at 222, is displayed
on a 3D graphical rendering of the representation of the
endocardium surface generated at 204.
Some of the post-processing operations performed on the
reconstructed set(s) of physiological information include the
generation of a resolution map. Such a resolution map indicates the
spatial resolution of physiological information at points on the
endocardium surface, thereby providing a measure of the reliability
and accuracy of the information at various points on the
endocardium surface. The resolution map may also be used to form a
composite set of reconstructed physiological information by
associating with individual sets of acquired raw data and/or
individual sets of reconstructed physiological information
corresponding resolution maps. A resultant composite set is then
formed by selecting portions of acquired raw data (or reconstructed
information) whose reliability or accuracy, as indicated by the
resolution map corresponding to the set from which the data is
selected, is sufficiently high. Resolution maps may be used with
any form of post-processing operation including all modes listed
below. Strictly speaking, information about the resolution maps can
be determined prior to obtaining the reconstructed potential data;
however, herein we generally refer to the generation and display of
the resolution map as "post-processing" because such information is
typically presented to the user after at least some of the
potentials are reconstructed.
Another type of post-processing operation that may be performed
includes the generation of isopotential maps. Particularly, where
the reconstructed physiological information pertains to electrical
potentials, the reconstructed potentials may be color coded and
superimposed on the 3D endocardial representation. Isopotential
maps are the reconstructed potentials computed for every sampled
set of data over a single or multiple heart beats.
Yet another type of post-processing operation includes the
generation of timing maps (such as activation time maps). The
timing maps provide information on the time-dependent behavior of
the heart's electrical activity. Particularly, the activation map
indicates at what point in time particular points on the
endocardium surface experience a change in their electrical
activity. For example, the activation map could identify the point
in time at which particular cells on the endocardium surface
experienced depolarization. Another type of timing map may be an
iso-duration map where the amount of time certain tissue has been
active for is detected. Timing maps may be computed from the
reconstructed potentials over a single or multiple heart beats.
Timing maps may be determined and displayed for one or more points
on the endocardium surface representation.
Another type of post processing operation that may be performed at
222 is the generation of voltage maps. Voltage maps can be used to
display characteristics of voltage amplitude in a given area. The
voltage maps may be computed from the reconstructed potentials over
a single or multiple heart beats. Useful voltage map information
that may be determined and displayed for one or more points on the
endocardium surface representation includes the maximum amplitude,
or root mean square potential values.
Another type of post-processing operation is the generation of a
difference map. The difference map provides information regarding
the effectiveness of the clinical procedure (e.g., ablation)
performed on the patient to ameliorate the symptoms of arrhythmias.
The difference map compares the electrical behavior of the heart,
as reflected from two or more voltage maps generated before and
after the performance of the particular clinical procedure.
A further type of post processing operation is the generation of
frequency maps. Frequency mapping, and more generally spectral
analysis, are used to identify on the endocardium surface localized
sites of high-frequency activity during fibrillation. Frequency
maps are computed by acquiring multiple sets of reconstructed
information over a particular time interval which includes a single
or multiple heart beats. The acquired raw data is then used to
obtain the frequency representation of that data. Specific
information (e.g., dominant frequency components) from the
frequency representation is subsequently identified, and that
identified information may be displayed.
Other types of post-processing information may likewise be
performed at 222.
The various procedures described above will now be described in
greater detail.
Boundary Construction Procedure
As noted above, physiological information is reconstructed for an
endocardium surface representation that is generated from
pre-acquired volumetric data obtained using such techniques as
coherence tomography (CT) imaging, magnetic resonance imaging (MRI)
techniques, and/or ultrasound-based imaging technique. The
volumetric data can be obtained in advance of the performance of
the signal acquisition and/or the reconstruction procedure, or it
can be obtained substantially concomitantly with the performance of
either of these procedures. As described in further detail below,
in preferred embodiments, for example, volumetric data, represented
as image slices, can be acquired before the catheter 110 is
inserted into the heart chamber that is to be mapped.
Acquisition of the volumetric data is performed using conventional
scanning apparatus, such as CT, ultrasound, or MRI scanners, that
provide acquired volumetric images to the image acquisition and
preparation module 130. In preferred embodiments, the acquired
image is usually stored and transferred in industry standard, e.g.,
DICOM format.
In order to facilitate the boundary construction procedure, the
volumetric images may be acquired under a customized protocol. To
facilitate the identification and construction of the endocardium
surface (sometimes referred to as the
blood-to-endocardium-boundary) from the acquired volumetric images,
contrast agents may be injected into the body during image
acquisition. The injection is timed such that the contrast agent is
present in the endocardium during the acquisition time.
Since the heart contracts during imaging, additional physiological
information is recorded and incorporated with image data during
acquisition time. Parameters such as EKG and respiration phase
enable matching the volumetric images to the specific phase of the
heart and respiratory cycle.
To generate a representation of the endocardium surface from high
resolution volumetric data, one first retrieves the volumetric data
either from the image acquisition and preparation module 130 or
from storage device 160. While the pre-acquired volumetric images
are of high quality, in their original form they do not provide
explicit information about the endocardium boundary. Accordingly, a
boundary representation of the endocardium surface is generated
based on the volumetric data using a procedure known as
segmentation.
The segmentation algorithm detects the blood to endocardium
boundary using the difference in corresponding contrast enhanced by
the injected contrast agent. The segmentation may be performed
utilizing one of a number of algorithms. One such algorithm is
seeded region growing. The basic approach of the algorithm is to
start from a seed region (typically one or more volume pixels,
denoted voxels) that are considered to be inside the object to be
segmented. The voxels neighboring this region are evaluated to
determine if they should also be considered part of the object. If
so, they are added to the region and the process continues as long
as new pixels are added to the region.
The evaluation criteria for inclusion as part of the region may be
based, for example, on algorithm based on statistical properties of
the region. First, the algorithm computes the mean and standard
deviation of intensity values for all the voxels currently included
in the region. A user-provided factor is used to multiply the
standard deviation and define a range around the mean (for example
3.times.). Neighbor voxels whose intensity values fall inside the
range are accepted and included in the region. When no more
neighbor voxels are found that satisfy the criterion, the algorithm
is considered to have finished its first iteration. At that point,
the mean and standard deviation of the intensity levels are
recomputed using all the voxels currently included in the region.
This mean and standard deviation defines a new intensity range that
is used to visit current region neighbors and evaluate whether
their intensity falls inside the range. This iterative process is
repeated until no more voxels are added or the maximum number of
iterations is reached.
A number of segmentation techniques may be used to perform
segmentation. A number of commercially available and open source
segmentation tools may be used to perform boundary detection. For
example, these include Cardiac ++ by GE Healthcare systems, Amira
by Mercury Computer Systems, and the open source National Library
of Medicine Insight Segmentation and Registration Toolkit
(ITK).
FIG. 3 provides an exemplary illustration of a resultant boundary
representation of the endocardium surface produced from the
acquired high resolution volumetric data after the performance of
segmentation. As shown in FIG. 3, representative volumetric data
comprising four image slices of the heart cavity are processed
using a segmentation technique to generate the 3D boundary
representation of the endocardium surface.
Once the endocardium representation has been obtained from the
volumetric data, the anatomical geometry of the endocardium
representation is partitioned into a discrete number of surface
elements to facilitate the performance of the numerical
computations that have to be undertaken during the reconstruction
process. The number of surface elements, as well as their geometry,
controls the maximum attainable resolution of the eventual
reconstructed physiological information.
The partitioning of the segmented endocardium surface
representation depends, among other things, on the numerical
computation method used to solve the relevant partial differential
equations (PDE's) that define the relationship between the
physiological information at the endocardium surface and the
measured signals. For example, finite differences (FD) and finite
volume numerical methods, as well as the immersed boundary
adaptation of the finite difference numerical method, use regular
Cartesian grids. The finite element Method (FEM) numerical method
uses volumetric meshes, often built from tetrahedra. On the other
hand, the boundary element method (BEM), which is based on integral
equations, uses a surface mesh generally comprising triangle-shaped
surface elements, although higher order elements, such as splines,
may similarly be used. It is to be noted that an advantage of the
BEM method is that implementation of the BEM method to perform the
computation needed to solve the PDE's in the course of the
reconstruction process results in the generation of a non-varying
mesh that does not change for different catheter positions.
In some embodiments the endocardium surface representation obtained
is partitioned by using the Strang-Persson approach. Briefly, the
approach is based on a mechanical analogy of a stable equilibrium
truss consisting of weights and springs. The method assumes that
the boundary is supplied as a signed distance function. A signed
distance function refers to a three dimensional grid of data that
contains the values of the function phi that represents the signed
distance (<0 if inside, >0 if outside) from a given point to
the boundary. The signed distance function may be readily obtained
following the segmentation process described above.
The Strang-Persson approach places a number of nodes inside the
domain and imagines that there is a compressed string along each
edge that is created by Delaunay triangulation. The method then
allows each spring to relax to its equilibrium length insomuch as
it is constrained by other strings and as long as no node goes
outside of the domain. If the nodes travel a significant distance,
then Delaunay triangulation is repeated. This procedure is
considered to be robust and produces high quality meshes.
It will be appreciated that other partitioning techniques may be
used to partition the endocardium surface representation.
One problem that remains after the segmentation and partitioning
procedures described above has been performed is the existence of
geometrical discontinuities in the generated meshed representation
of the endocardium surface. Elliptic equations, which correspond to
a broad category of PDE's that includes the Laplace and Poisson
equations, are solved with respect to closed domains for which a
boundary condition is specified with respect to every point on the
boundary. If boundary conditions are not specified along some part
of the boundary, the solution for the PDE's is not uniquely
defined. As a result, in addition to the correct solution there
will be incorrect solutions for the particular PDE's to be solved
that will satisfy the specified conditions. This property of
elliptic equations (i.e., that undefined boundary conditions may
yield incorrect solutions) is inherent to any numerical method.
Thus, in some embodiments, the geometry of the endocardium surface
is closed. Thus, for example, when applying the BEM numerical
method using triangle-shaped surface elements, the endocardium
surface, as well as the surface of the catheter, have to be
represented by meshes having no gaps or overlaps.
Accordingly, having generated the partitioned endocardium surface
representation, all openings on the representation (e.g., arteries
or veins extending from the endocardium surface) are typically
closed. The opening in the geometry of the endocardium
representation can be closed with surface sections providing the
shortest distances between any given point along the perimeters of
the openings on the endocardium surface representation.
Alternatively, geometries satisfying different criteria for the
sections used to patch the openings in the endocardium surface
representation may be used. Additionally, the sections that have
been added to the representation where opening previously existed
are partitioned to surface elements having the same geometry as the
surface elements used in endocardium surface representation. Thus,
in embodiments where the Strnag-Persson approach had been used to
partition the endocardium surface into a mesh with triangle-shaped
surface elements, the surface sections now covering the openings
also include triangle-shaped surface elements. Subsequently, the
solutions of the PDE's that will result in the reconstructed
physiological information at the endocardium surface will include
information pertaining to the added sections covering the opening.
However, when presenting the physiological information to a user,
or when displaying a graphical rendering of the endocardium surface
representation, the added sections covering the actual openings in
the surface should be excluded.
Accordingly, upon performing the boundary construction procedure, a
resultant meshed representation of the endocardium surface is
produced. That meshed representation of the endocardium surface
satisfies the following requirements: 1. Closed Surface--as
mentioned above, all surfaces must be closed. Prior segmentation
techniques produce meshes that fully represent the veins and
arteries. For the purposes of implementing numerical techniques,
the veins and arteries must be effectively closed off with high
quality meshes. The closed surfaces covering the veins and arteries
in the derived representation of the endocardium surface may be
subsequently removed prior to displaying the reconstructed
physiological information or prior to otherwise making any use with
the reconstructed physiological representation 2. Element
Number--the number of surface elements should be high enough to
resolve the geometry but, on the other hand, to the extent that the
resultant geometry is adequately resolved, be as coarse as possible
to facilitate speedy numerical computations. Endocardium surface
representation that include too many surface elements (e.g.,
triangles) to accommodate unimportant local features of the
geometry should be avoided. 3. Element Quality--The surface
elements should be of high quality. The quality of a
triangle-shaped surface element, for example, is a measure of how
close it is to being equilateral. A simple measure of the triangle
quality is the "radius ratio". The radius ratio is defined as the
ratio of the radius of the circumscribed circle and that of the
inscribed circle. The smaller the value, the higher the quality of
the triangle. An equilateral triangle yields a radius ratio of 2,
which is the lowest attainable value. The quality of the entire
mesh can be measured as the average quality of the individual
surface elements. However, some numerical computation techniques,
such as FEM, are known to be sensitive to the quality of the worst
triangle. It will be appreciated that the other quality metrics,
pertaining to different types of surface element geometry may be
used.
FIG. 4 is an exemplary illustration of a resultant meshed boundary
representation of an endocardium surface of a left atrium generated
by performing the procedure described herein. As shown, the
boundary representation of the left atrium includes a mesh of
triangular surface elements.
As described herein, physiological data obtained during the
acquisition of the volumetric data may be used to enable the
matching of volumetric images to the specific phase of the heart's
mechanical cycle. In addition, in some embodiments, reconstructed
physiological information obtained by performing of the non-contact
mapping procedure could be presented on endocardium surface
representation that most closely matches the mechanical phase of
the heart during which the raw data resulting from the heart's
electrical activity was acquired. Thus, in those embodiments,
separate representations of the endocardium surface can be
generated for different phases of the heart's cycle using the
boundary construction procedure. Raw data acquired during a
particular phase would then be reconstructed with respect to the
representation of the endocardium surface corresponding to that
phase. As described herein, the reconstruction transformations and
catheter registration procedure are performed with respect to that
particular representation of the endocardium surface. Similarly,
the reconstructed physiological information is subsequently
displayed using the corresponding endocardium surface
representation. In circumstances where the raw data is acquired at
a phase that does not have a corresponding endocardium surface
representation, the reconstruction operations will be performed
using the closest matching endocardium surface representation.
Pre-Computed Transformation Functions
As explained above, some of the computations involved in computing
the reconstruction transformation are complex and time consuming.
It is therefore preferable not to perform all of them in the
clinical setting where physician interaction is required.
Because endocardial boundary and catheter geometries are known in
advance, it is possible to perform computations corresponding to
the reconstruction procedure, for example, computations pertaining
to the forward transform, before the reconstruction procedure is
performed, and store the pre-computed transform functions in memory
for later use. When performing the reconstruction procedure, the
pre-computed transformation functions can be retrieved from storage
and used to compute the overall forward transform, thereby
expediting the computation of the overall forward transform in
real-time.
The reconstructed sets of physiological information are the
solutions to elliptic partial differential equations (PDE's) that
arise from Laplace's equation. To solve an elliptic PDE, a
multi-variable function is defined on the closed domain that
satisfies two properties: the bulk equation inside the domain (in
the present case, e.g., blood) and the boundary conditions (in the
present case, e.g., the endocardium and catheter).
Conventional numerical techniques used to compute solutions for
PDE's convert PDE problems into a set of algebraic equations. Some
components of these algebraic equations depend only on the geometry
and the nature of the bulk equation, and others components depend
on the boundary conditions. While the boundary conditions are not
necessarily known during the pre-computation phase, much is known
about the geometry. For example, the shape of the heart's cavity
and the shape of the catheter are both known in advance of the
signal measurement and reconstruction processes. Therefore,
components of the transformation functions (or in some
circumstances, the complete transform functions) are computed prior
to the acquisition of raw data and/or reconstruction of
physiological information from that raw data. Subsequently, these
pre-computed transformation function components are used to
expedite the computation of the full transformation functions. In
circumstances where full reconstruction functions had been computed
for particular locations of the catheter and/or electrodes 110, the
computation of the forward transformation functions in real-time is
avoided.
The pre-computed transformation functions can be used with any type
of numerical computation methods used to solve the PDE's to obtain
the reconstructed physiological information solutions. The
following example illustrates how pre-computed transformation
functions can be determined and used in conjunction with boundary
element method (BEM) for solving the corresponding PDE's. It will
be appreciated that similar mathematical frameworks can be
developed for other numerical computation methods, and that
generation of pre-computed transformation functions for use with
those other numerical computation methods can likewise be
performed.
The BEM method is based on Green's second identity, as provided
below:
.intg..times..times.d.function..times..differential..differential..times.-
.differential..differential..intg..OMEGA..times..times.d.OMEGA..function..-
times..gradient..times..times..gradient..times. ##EQU00001## where
V and U are two functions defined on the domain .OMEGA. with
boundary S. The operator .differential./.differential.n is the
normal derivative with respect to the outward normal and
.gradient..sup.2 is the Laplace operator (the so-called
"Laplacian"). The above equation applies to an arbitrary domain,
including domains with cavities. In the problem with a balloon
catheter, .OMEGA. is the domain occupied by blood and S is the
union of the (artificially closed-off) endocardium and the surface
of the catheter.
The variable V represents the electrostatic potential, which has
the property that its Laplacian vanishes. The variable U can be
defined as
##EQU00002## with the distance r measured from a given origin o.
The Laplacian of U can thus be represented as:
.gradient..times..times..pi..delta..function. ##EQU00003## where
.delta..sub.0(x, y, z) is the three-dimensional Delta function at
the origin o. Substituting the relationship represented in Equation
(2) for U in Green's second identity, as shown in Equation (1),
yields the following identity which is valid at all interior points
of .OMEGA.:
.times..pi..times..intg..times..times.d.times..differential..differential-
..times..differential..differential. ##EQU00004## where r is the
distance from the point at which V is being evaluated to each of
the points on the surface. Similarly, the following relationship is
valid for points on the boundary:
.times..pi..times..intg..times..times.d.times..differential..differential-
..times..differential..differential. ##EQU00005##
The variable S.sub.e is defined as the surface of the heart, and
the variable S.sub.c is defined as the surface of the catheter.
Thus, using this definition, the overall surface S, with respect to
which equation (4) is to be solved, is defined as the union of the
heart's surface and the catheter's surface, or
S=S.sub.e.orgate.S.sub.c. Both surfaces are assumed closed and
sufficiently smooth. Similarly, the variable V.sub.e, and
correspondingly
.differential..differential. ##EQU00006## are defined as the
potential and its normal derivative on the surface of the heart.
V.sub.c and
.differential..differential. ##EQU00007## are likewise defined as
the potential and its normal derivative on the surface of the
catheter. It will be appreciated that solving the PDE's with
respect to surface potential is for illustrative purposes only, and
that Green's second identity relationship may be solved for other
types of physiological information.
In the forward problem, V.sub.e is subject to Dirichlet boundary
conditions on S.sub.e and zero Neumann boundary conditions on
S.sub.c in the case where the catheter displaces a significant
amount of blood. Accordingly, V.sub.e and V.sub.c can be determined
using the following pair of equations:
.times..pi..times..intg..times..times.d.times..differential..differential-
..times..differential..differential..times..pi..times..intg..times..times.-
d.times..differential..differential..times..differential..differential..ti-
mes..pi..times..intg..times..times.d.times..differential..differential..ti-
mes..differential..differential..times..pi..times..intg..times..times.d.ti-
mes..differential..differential..times..differential..differential.
##EQU00008##
While Equations (5) and (6) appear identical, in each case the
variable r is the distance from the point at which V.sub.e or
V.sub.c is being evaluated to each point on either S.sub.c or
S.sub.e. In other words, the variable r assumes, for each of the
equations, different values during the evaluation of the respective
integrals, thus resulting in different values for V.sub.e and
V.sub.c. Since
.differential..differential. ##EQU00009## these equations simplify
to
.times..pi..times..intg..times.d.times..differential..differential..times-
..differential..differential..times..pi..times..intg..times.d.times..diffe-
rential..differential..times..pi..times..intg..times.d.times..differential-
..differential..times..differential..differential..times..pi..times..intg.-
.times.d.times..differential..differential. ##EQU00010##
Suppose that both surfaces are represented by irregular meshes and
that V.sub.e and V.sub.c are now discrete BEM approximations to the
true potential (or other physiological characteristics), subject to
truncation errors as well as round off errors. The integration
operation can be replaced by discrete operators S.sub.e.fwdarw.e,
O.sub.e.fwdarw.e, S.sub.c.fwdarw.e, O.sub.c.fwdarw.e,
S.sub.e.fwdarw.c, O.sub.e.fwdarw.c, S.sub.c.fwdarw.c,
O.sub.c.fwdarw.c. Mnemonically, "S" stands for "Solid angle", "O"
stands for "One-over-r" and the subscripts refer to either
endocardium surface ("e") or the catheter surface ("c"). These
discrete operators, which approximate the integration operation
performed to determine the potentials at the respective surfaces
can thus be represented as matrices. For a collocation-type BEM in
which the potential is assumed to be constant over an entire
element (e.g., a surface element on the particular representation
of the surface used), the contribution from the operator
S.sub.e.fwdarw.e to the potential at the i.sup.th element of the
endocardium surface based on the j.sup.th element on the
endocardium surface can be computed as:
>.times..pi..times..intg..DELTA..times..differential..differential..ti-
mes.d.times. ##EQU00011## where the integration takes place over
the j.sup.th element, and r.sub.ij is the distance from a given
point on the j.sup.th element to the center of the i.sup.th
element. Similarly, the other operators can be expressed as
follows:
>.times..pi..times..intg..DELTA..times..times.d.times.
##EQU00012## where the i.sup.th and j.sup.th elements are both on
the endocardium surface,
>.times..pi..times..intg..DELTA..times..differential..differential..ti-
mes.d.times.>.times..pi..times..intg..DELTA..times..times.d.times.
##EQU00013## where the i.sup.th element is on the endocardium
surface and the j.sup.th element is on the catheter surface,
>.times..pi..times..intg..DELTA..times..differential..differential..ti-
mes.d.times.>.times..pi..times..intg..DELTA..times..times.d.times.
##EQU00014## where the i.sup.th element is on the catheter surface
and the j.sup.th element is on the endocardium surface, and
>.times..pi..times..intg..DELTA..times..differential..differential..ti-
mes.d.times.>.times..pi..times..intg..DELTA..times..times.d.times.
##EQU00015## where the i.sup.th and j.sup.th elements are both on
the catheter surface,
The integral equations above can be converted into the finite
linear system
>.times.>.times..differential..differential.>.times.>.times.&-
gt;.times..differential..differential.>.times. ##EQU00016##
Combining like terms yields:
>.times.>.times..differential..differential.>.times.>.times.&-
gt;.times..differential..differential.>.times. ##EQU00017##
where I is the identity operator.
In the above system, for the forward transformation, V.sub.e is
known while
.differential..differential. ##EQU00018## and V.sub.c are unknown.
The system can be rewritten in block form as
>>>>.function..differential..differential.>.times.>.tim-
es. ##EQU00019##
The vector
.differential..differential. ##EQU00020## can be eliminated from
the above system, leaving the following expression for V.sub.c:
V.sub.c=(-S.sub.c.fwdarw.c+I+O.sub.e.fwdarw.cO.sub.e.fwdarw.e.sup.-1S.sub-
.c.fwdarw.e).sup.-1(O.sub.e.fwdarw.cO.sub.e.fwdarw.e.sup.-1(I-S.sub.e.fwda-
rw.e)+S.sub.e.fwdarw.c)V.sub.e (15)
The operators, or matrices, applied to V.sub.e form the so-called
forward transformation, denoted A, that relates the potentials at
the endocardium surface, resulting from the electrical activity of
the heart, to the potential measured at the multiple electrodes of
the catheter 110. In order to provide the transformation from
catheter to endocardial potentials, we must interpret A as an
equation for {circumflex over (V)}.sub.e given V.sub.c. Because
matrix A is generally rectangular, underdetermined, and rank
deficient to within IEEE double precision, reconstructing
{circumflex over (V)}.sub.e correctly through direct inversion is
difficult because this equation allows infinitely many solutions,
all but one of which are incorrect. Instead, some type of
regularization technique is used to incorporate a priori knowledge
about the system to better specify the correct solution. The
regularization technique may include mathematical smoothing,
statistical methods, and/or iterative techniques, such as conjugate
gradient methods. Further below, a Tikhonov regularization
technique is described for solving for {circumflex over (V)}.sub.e;
however, such a technique is by no means limiting.
With reference again to Equation (15), several of the matrices that
form the forward transform A are pre-computed prior to the
reconstruction operations. For example, the matrix S.sub.c.fwdarw.c
depends only on the geometry of the catheter and can therefore be
pre-computed. If the catheter can assume different shapes and
configurations, separate S.sub.c.fwdarw.c matrices corresponding to
each such shape/configuration are computed. The matrices
S.sub.e.fwdarw.e, O.sub.e.fwdarw.e and O.sub.e.fwdarw.e.sup.-1
depend on the geometry of the heart and can be pre-computed if the
shape of the heart is obtained before the procedure. In some
embodiments O.sub.e.fwdarw.e is the largest matrix since the heart
is represented by a mesh with significantly more elements than the
catheter. For example, the heart is typically represented by 3000
triangles while the catheter is typically represented by 500.
Therefore, O.sub.e.fwdarw.e is a 3000.times.3000 matrix, and thus
its inversion would be costly (especially in terms of time) if the
inversion had to be performed in real-time. The matrix computed as
-S.sub.c.fwdarw.c+I+O.sub.e.fwdarw.cO.sub.e.fwdarw.e.sup.-1S.sub.c.fwdarw-
.e, on the other hand, has a size of 500.times.500 elements and its
inversion, therefore, could be performed more quickly.
The matrices corresponding to the independent geometry of the
endocardium surface and/or the catheter are computed in advance of
the signal acquisitions and/or reconstruction stages of the
non-contact mapping. These pre-computed matrices are stored in a
memory device, such as storage device 116 for later retrieval.
After raw data had been acquired, the forward transform matrix is
generated by retrieving, for example, the pre-computed
S.sub.e.fwdarw.e, O.sub.e.fwdarw.e, and O.sub.e.fwdarw.e.sup.-1,
matrices, and using them in the course of computing the full
forward transform matrix. In these embodiments where at least some
of the pre-computed components associated with the forward
transform are available, the forward transform matrix has
effectively been partially pre-computed.
Unlike the matrices S.sub.e.fwdarw.e, O.sub.e.fwdarw.e,
O.sub.e.fwdarw.e.sup.-1 and S.sub.c.fwdarw.c, the other matrices
depend on the configuration of the endocardium and the catheter 110
relative to each other (e.g., the relative distance between the
catheter and specific locations on the endocardium surface).
Although the relative positions and configuration of the
endocardium surface relative to the catheter are typically known
only when the catheter is inserted into the heart chamber and the
data acquisition process has begun, to further expedite the
reconstruction procedure, in some embodiments, the following matrix
may be pre-computed for a large number of possible catheter
locations:
(-S.sub.c.fwdarw.c+I+O.sub.e.fwdarw.cO.sub.e.fwdarw.e.sup.-1S.sub.c.fwdar-
w.e).sup.-1(O.sub.e.fwdarw.cO.sub.e.fwdarw.e.sup.-1(I-S.sub.e.fwdarw.e)+S.-
sub.e.fwdarw.c) (16)
Thus, for various discrete locations of the catheter 110 relative
to the endocardium surface, the overall matrix expressed by
Equation (16) can be independently computed and stored at storage
device 160 (or elsewhere) for subsequent retrieval. During the
performance of the mapping procedure, the catheter's position
relative to the endocardium surface is determined and rather than
computing the matrix of Equation (16) from scratch, the location is
used to access a look-up table to retrieve the appropriate
pre-computed matrix corresponding to the determined location.
The practicality of computing full forward transforms depends, to
an extent, on the type of catheter used. For example, balloon-type
catheters are configured in such a way that their movement in the
heart chamber causes enough of the blood occupying the heart
chamber to be displaced that a significant change in potential
distribution occurs. As a result, for every variation of the
position and orientation of a balloon-type catheter inside the
heart chamber there will be a different forward transform
associated with that position/orientation. The effort of
pre-computing forward transforms for various positions/orientations
of a balloon-type catheter then becomes proportional to the product
of the number of possible spatial positions and the number of
rotational configuration at those positions.
On the other hand, for some types of catheters, for example
branch-shaped catheters (or otherwise porous, hollow catheters),
the extent of blood displacement in the heart chamber is much less
significant than for balloon-shaped catheters. Accordingly, one can
approximate the presence of the catheter as having no effect on the
electrostatic potentials inside the heart cavity, and essentially
the integrations over the catheter surface in Equations (7) and
(8), and the equations derived there from, can be ignored. As a
result, the catheter orientation is no longer required to calculate
the forward transform matrix A, the only knowledge that is required
regarding the catheter is the positions of the various catheter
electrodes.
For the type of catheters that do not displace a significant amount
of blood the solution V to Laplace's equation at any interior point
of .OMEGA. is given by
.times..pi..times..intg..times.d.times..differential..differential..times-
..differential..differential. ##EQU00021##
where V.sub.e is specified by Dirichlet boundary conditions and
.differential..differential. ##EQU00022## is determined from the
integral equation
.times..pi..times..intg..times..times.d.times..differential..differential-
..times..differential..differential. ##EQU00023## or, in the matrix
form
.fwdarw..times..differential..differential..fwdarw..times.
##EQU00024## which means that
.differential..differential. ##EQU00025## can be computed from
V.sub.e by only applying matrices O.sub.e.fwdarw.e and
S.sub.e.fwdarw.e which can be entirely pre-computed:
.differential..differential..fwdarw..function..fwdarw..times.
##EQU00026##
Importantly, this means that theoretically the forward operator can
be pre-computed for finding the solution to Laplace's equation at
any point in the interior of the heart. In reality, the forward
operator needs to be pre-computed for a sufficient number of
interior points so that an accurate solution at any interior point
can be computed by a simple interpolation.
In general, for all types of catheters, significant benefits can be
drawn from pre-computing the forward operator for a number of
strategically selected catheter locations. When the physical
catheter is found near a pre-computed location it is generally true
(to the extent that the two configurations are indeed very similar)
that the forward operator can be approximated by the pre-computed
one. Therefore, benefits can be drawn both as far as efficiency and
efficacy of regularization. For example, applying the pre-computed
inverse to the observed electrode potentials will yield an
excellent initial guess for iterative linear system solvers,
significantly reducing the computation time. Further, an SVD-based
low-rank approximation of the pre-computed operator A is likely to
be a good preconditioner for the same iterative solvers further
reducing the computation time. Finally, representing to endocardial
potential in the right singular functions of the pre-computed
operator A can be a very effective form of regularization and
further diminish the required computation time by dramatically
reducing the number of degrees of freedom from about 3000 to
typically under 100.
In some embodiments, pre-computed matrices generated for select
locations of the catheter may be used to estimate the matrices for
other locations of the catheter 110 with respect to which
corresponding forward matrices were not pre-computed. Perturbation
analysis can be used to do this. For example, suppose that a
satisfactory inverse operator has been constructed for a certain
relative configuration of the endocardium and the catheter.
Subsequently, the electrophysiologist moves the catheter by a small
amount. A boundary perturbation technique can be used for
reconstructing the potential on the endocardium by utilizing the
measurements on the displaced catheter, the known amount of
displacement, and the inverse operator constructed for the original
position. For example, the matrix for the new location can be
determine by using the pre-computed matrices for nearby locations,
or components therein, as bases in a perturbative solution (e.g., a
linear superposition of the basis functions or matrices) for
determining the matrix for the new location.
In some embodiments, pre-computed transformation matrices may be
generated for separate representations of the endocardium surface
in circumstances where different representations for different
phases of the heart's cycle are used. Thus, for each of those
separate representation of the endocardium surface, corresponding
pre-computed matrices are generated that are based on the
individual geometry of these endocardium surface representations.
Similarly, where several types of catheters may be used (or where a
catheter may have different possible catheter configurations), the
matrices which depend on the geometry of the catheter (e.g.,
-S.sub.c.fwdarw.c) may be individually generated for each of those
catheters. During the reconstruction procedure, the matrices
corresponding respectively to the chosen catheter and to the
particular endocardium surface geometry are retrieved from storage
device 160 and used to complete the computation of the full forward
matrix corresponding to the particular location at which raw data
was acquired.
Catheter Registration
As explained above, an important aspect of the non-contact mapping
procedure is the determination of the catheter's position relative
to the endocardium surface representation. The relative position of
the catheter with respect to the endocardium surface representation
is required, among other reasons, to compute the reconstruction
transformation functions to compute the physiological information
at the endocardium surface.
FIG. 6 is a flowchart of an exemplary embodiment of a catheter
registration procedure 600 for determining a transformation
function that aligns the catheter's coordinate system with the
coordinate system of the endocardium surface representation, and
thus enables expressing the position of the catheter's location in
terms of the endocardium surface's coordinates system. The
following will describe two methods for performing catheter
registration. The first method relates to a point cloud to surface
registration while the second method employs the identification of
fiduciary anatomical markers.
FIG. 6 describes a point cloud to surface registration. As shown in
FIG. 6, a catheter is first inserted into the heart chamber and is
moved to a location where the catheter and/or at least one of its
electrodes touch the endocardium surface (at 610). In some
embodiments an operator moves the catheter 110 inside the heart
chamber until it determines that the catheter, or one or more of
its electrodes, touches the endocardium surface. In determining
whether the catheter 110 or any of its electrodes are touching the
walls of the endocardium surface, the operator may be guided by
visual aides such as a real-time ultrasound system providing a
visual image of the catheter inside the heart chamber, a camera
coupled to a fibreoptic strand connected to the catheter,
fluoroscopy, impedance measurements, the size and shape of
intracardiac electrograms, pressure sensors fitted on the tip of
the catheter etc. Additionally, the operator may determine that the
catheter is touching the endocardium surface when it encounters the
higher mechanical resistance exerted by the endocardium walls,
thereby alerting the operator that the catheter is at the
endocardium surface. In yet further embodiments, a catheter may be
guided to the endocardium walls automatically with minimal
intervention from the operator.
Once the catheter has been placed in a location abutting the
endocardium surface, the 3D spatial coordinates of the catheter
(and/or its electrodes) is determined at 620. The spatial
coordinates may be established using one of several conventional
sensing and tracking systems. Such conventional sensing and
tracking systems (also referred to as localization systems) include
systems that determine the location of the tracked object (in this
case the catheter and/or its electrodes) using magnetic fields,
electric fields, fluoroscopy, and ultrasound signals. These systems
localize the catheter in the 3D space of the localization
system.
See, for example, any of U.S. Pat. No. 5,697,377 entitled "Catheter
mapping system and method," U.S. Pat. No. 5,983,126 entitled
"Catheter location system and method," U.S. Pat. No. 6,690,936
entitled "System for determining the location and orientation of an
invasive medical instrument," U.S. Pat. No. 5,713,946 entitled
"Apparatus and method for intrabody mapping," U.S. Pat. No.
5,694,945 entitled "Apparatus and method for intrabody mapping,"
U.S. Pat. No. 5,568,809 entitled "Apparatus and method for
intrabody mapping," U.S. Pat. No. 5,833,608 entitled "Magnetic
determination of position and orientation," U.S. Pat. No. 5,752,513
entitled "Method and apparatus for determining position of object,"
and U.S. Pat. No. 6,427,314 entitled "Magnetic determination of
position and orientation," and U.S. Patent Application Publication
entitled "Method and apparatus for catheter navigation and location
and mapping in the heart."
As noted above, in some embodiments, the location of the electrodes
relative to the catheter 110 is fixed and known, and thus the only
information that needs to be determined is the location and
orientation of the catheter 110 in the 3D space established by the
localization system. In other embodiments, the location of the
various electrodes relative to the catheter may vary, and
accordingly in such embodiments electrodes may be tracked
individually relative to the endocardium, or relative to a location
on the catheter with known position relative to the endocardium.
Electrode tracking may employ any of the above mentioned tracking
methods such that instead of tracking only one known point on the
catheter, each electrode is individually tracked.
At 630 it is determined if additional catheter locations are
required to perform the registration procedure. A minimum of three
(3) separate catheter locations are required to obtain an accurate
geometric transformation between the catheter's coordinate system
and the endocardium's surface representation's coordinate system.
However, to improve the accuracy and reliability of the coordinate
system transformation, more catheter locations could be used.
If additional locations are required, the procedure depicted at
610-620 is repeated. Particularly, the operator moves the catheter
110 to the next point on the endocardium surface, and the 3D
coordinates of the catheter 110 relative to the localization system
are determined.
Subsequently, after N locations of the catheter 110 at the
endocardium surface have been acquired, and their 3D spatial
coordinates relative to the localization system determined, the
registration transformation, to, is computed at 640. As described
above, to map the localization system's coordinate system to the
endocardium surface representation's coordinate system, the
computed geometric transformation is the one that best matches the
3D locations of the catheter 110, as determined at 610-630, to the
endocardium surface representation.
In some embodiments, computation of the registration transformation
to is performed by minimizing the following expression:
.times..times. ##EQU00027##
To perform the minimization of Equation (17), the surface S,
representing the segmented boundary of the endocardium surface and
nearby vessels, is defined. Also defined are the vector p.sub.i,
which corresponds to the 3D spatial coordinates measured for the
roving catheter using the localization system, and the operator
T[t.sub.0](p.sub.i) which is the transformation operator performed
on the points p.sub.i. The resultant vector t.sub.0 is represented
as a six parameter transformation [x.sub.0, y.sub.0, z.sub.0,
.theta..sub.i, .phi..sub.0, .psi..sub.0] that is applied to
catheter locations to express those locations in terms of the
endocardium surface coordinate system.
The distance function D is defined such that
d.sub.i=D(T[t.sub.0](p.sub.i), S) represents the distance from
transformed point T[t.sub.0](p.sub.i) to the surface S. To
determine the vector t.sub.0 with respect to which the term d.sub.i
for the acquired N catheter locations on the endocardium surface is
minimized, a number of techniques may be used, including
conventional iterative optimization techniques such as least-square
error computation procedures and/or other mathematical regression
and curve-fitting techniques.
In other embodiments, determination of the transformation vector
t.sub.0 may be achieved using the fiduciary anatomical markers
technique. In this technique, a number of fiduciary markers are
identified in both the endocardial boundary and the localization
system respective coordinate systems. Once identified, the
transformation that yields the minimum mean square error between
the two point sets is chosen.
For example, anatomical landmarks that are easy to identify in both
modalities (Mitral annulus, coronary sinus, etc.) are used as the
fiduciary markers. These landmarks may be easily identified in the
pre-acquired endocardial boundary. Once a given landmark is
identified, the catheter may be advanced to the landmark guided,
for example, by fluoroscopy. Once in contact, a reading from the
catheter localization system is taken to establish the catheter's
position in terms of localization system's coordinate system.
A variation of the above technique may be to place surface markers
on the patient that are easy to identify in both the pre-acquired
and real-time localization modalities.
The registration process yields a transformation vector that
includes three (3) displacement parameters
(x.sub.0,y.sub.0,z.sub.0) and three rotation parameters
(.theta..sub.0, .phi..sub.0, .psi..sub.0). This transformation can
then be applied to 3D spatial coordinates obtained by the
localization system to obtain the roving catheter's location in
terms of the endocardium surface representation's coordinate
system. The mapped locations of the catheter's 110 are subsequently
used to compute the reconstruction transformation, and/or perform
all other computations that require the catheter's location in
terms of the endocardium surface's coordinate system.
It is to be noted that for a healthy patient in sinus rhythm the
endocardial boundary is relatively fixed throughout the propagation
of the activation wavefront. This implies that a small error
tolerance is available when basing the registration process on a
single boundary shape for the construction of the geometrical
mapping between the localization system and endocardial surface
representation respective coordinate systems.
In some cases changes in blood volume between the time of image
acquisition and the time of registration or the presence of a
persistent arrhythmia may lead to a change in chamber volume, and
therefore a mismatch between the preacquired and current
endocardial surface. Such mismatch leads to error when performing
reconstruction of physiological signal on the endocardial surface.
Volume changes are generally lower than 20%. A number of methods
may be used to compensate for this volume change. One method is to
add a scaling parameter that uniformly dilates or contracts the
endocardial representation relative to the acquired point cloud.
When performing the abovementioned minimization of equation (17) a
scaling parameter so may be added to the transformation vector.
Rather than optimizing for 6 parameters, the minimization algorithm
optimizes for 7 parameters providing the scaling factor which is
expected to be in the range of .+-.20%. Other, more elaborate
methods, may also scale the endocardial surface non-uniformly such
that anatomical areas that are a-priory known to be less likely to
experience a change in shape due to volume changes are scaled less
than those more likely to change.
In case of persistent arrhythmia the heart may experience
mechanical change during the activation wavefront propagation. As
discussed previously, it is possible to obtain endocardium boundary
representation for multiple phases of the mechanical cycle. Thus,
in some embodiments several geometrical transformation vectors,
such as to, corresponding to multiple heart shapes may be computed.
The system may detect physiological data such as ECG, intracardiac
electrograms and stroke volume using impedance plethysmography and
use this data to select the cardiac phase, appropriate endocardial
boundary representation and the corresponding geometric
transformation to.
It will be appreciated that while the transformation t.sub.0
establishes the geometric mapping with a respect to a
representative point on the catheter 110 (e.g., the tip of the
electrode that touched the endocardium surface when the catheter
was moved around, the central point on the body of the catheter,
etc.), the coordinates of any point on the catheter and/or its
electrode in terms of the endocardium surface representation's
coordinate system can be determined.
Reconstruction of Physiological Information at the Endocardium
Surface
Given the relative location of the catheter and/or its electrodes
to the endocardial boundary, the numerical transformation from the
signals measured by the electrodes to the physiological information
(e.g., electrical potentials) at the endocardial surface can be
computed.
The physical laws governing the reconstruction of the physiological
information at the endocardium surface are briefly summarized
below:
The potential V in a homogeneous volume .OMEGA. is governed by
Laplace's equation .gradient..sup.2V=0 (18)
subject to boundary conditions
.times..times..times..times..times..times..times..times..differential..di-
fferential..times..times..times..times..times..times. ##EQU00028##
where S.sub.c is catheter surface and the vanishing normal
derivative accounts for the fact that the current does not
penetrate S.sub.c. Se represents the endocardial surface. In case
of a branch-shaped catheters (or otherwise porous, hollow
catheters), where the extent of blood displacement in the heart
chamber is much less significant than for balloon-shaped catheters,
the constraint of vanishing normal derivative may be omitted.
As previously alluded to, with the exception of a handful of
geometries, Laplace's equation needs to be solved numerically.
Numerical methods such as boundary element method (BEM), finite
element method (FEM), finite volume method, etc. may be used to
solve Laplace's equation. For some special geometries, such as
near-spherical geometries, spherical harmonics may be used. Each
numerical method represents the geometry in a discrete way, but
each method uses its own representation. In all numerical methods
the potentials on the endocardial surface and on the catheter are
represented by finite-dimensional vectors. Since Laplace's
equations are linear, these vectors are related by a matrix A,
known as the forward matrix: V.sub.c=AV.sub.e (20) where V.sub.c is
a vector containing the potentials measured by the electrodes on
the catheter and V.sub.e is a vector containing the real
endocardial potentials. The matrix A has dimensions of m.times.n,
where m is the number of electrodes on the catheter and n is the
number of degrees of freedom in the endocardial potential, usually
the number of surface elements used to represent the surface
S.sub.e. Typically m<n. However, as noted, by moving the
catheter around the heart chamber and subsequently computing a
reconstruction transformation that is applied to a composite of the
raw data corresponding to the signal acquired at the multiple
locations, the effective number of electrodes m can be increased,
thereby reducing the disparity between m and n and thus improving
the accuracy of the computations.
Equation (20) provides a transformation relationship from the
endocardial to the catheter potentials. This relationship, which is
generally referred to as the forward problem, is well posed and can
be solved with great precision. To provide the transformation from
catheter to endocardial potentials, {circumflex over (V)}.sub.e, a
vector representing the estimated endocardial potentials, has to be
determined given V.sub.c. Since matrix A is generally rectangular,
underdetermined, and rank deficient to within IEEE double
precision, solving this equation is difficult, if not
impossible.
The first step towards calculating {circumflex over (V)}.sub.e is
to reformulate Equation (20) as a least squares problem in which
the expression .parallel.V.sub.c-A.times.{circumflex over
(V)}.sub.e.parallel..sup.2 (21) also referred to as the objective
function is minimized over all possible {circumflex over
(V)}.sub.e. The matrix A is either determined in real-time, or, as
described above, a pre-computed matrix A corresponding to the
particular geometry of the catheter 110 (including the position and
orientation of the catheter) is retrieved from storage device 160.
As also described above, if the storage device does not store
full-forward transformation matrices A corresponding, for example,
to the particular position(s) and/or orientation(s) of the catheter
110, the computation of the matrix A can nevertheless be expedited
by retrieving from storage device 160 partially pre-computed
functions or function components, and completing the computation of
the matrix A as described with reference to Equation (16).
If A were over-determined (i.e., its rank exceeding the dimension
of V.sub.c), and typically it is not, then {circumflex over
(V)}.sub.e could in theory be determined by the classical least
squares formula: {circumflex over
(V)}.sub.e=(A.sup.TA).sup.-1AV.sub.c (22)
However, because A is generally undetermined and, as a result,
A.sup.TA is singular and cannot be inverted, the expression in
Equation (22) cannot usually be applied in practice.
One difficulty relating to performing a least-square error
procedure is that because the matrix A attenuates the physiological
signal, the inverse operation needs to amplify the signal. The
level of attenuation in the forward and amplification in the
inverse depends on the size and the location of the catheter and
the nature of the electrical potential on the endocardium.
In practice, significant components of V.sub.e are attenuated on
the order of 1000 or greater. As a result, small errors in V.sub.c
will produce large errors in {circumflex over (V)}.sub.e. Thus the
inverse problem is ill-posed.
A regularization technique can be used for dealing with the
ill-posed nature of the inverse problem. The regularization
technique involves making additional assumptions about the behavior
of the endocardial signal. These assumptions may relate to the
spatial or temporal characteristics of the physiological
information at the endocardium surface.
One technique that can be used is the zeroth (0.sup.th) order
Tikhonov regularization technique. The technique is predicated on
the assumption that the essential part of the signal is contained
among the right singular values of A that correspond to the lowest
singular values. An alternative geometric interpretation is that
Tikhonov regularization limits the amplitude of spatial variation
of the reconstructed signal. The zeroth order Tikhonov
regularization results when a term that penalizes large endocardial
potentials is added to the objective function. Thus, the least
square error problem defined in Equation (21) can be re-formulated
as: .parallel.V.sub.c-A.times.{circumflex over
(V)}.sub.e.parallel..sup.2+t.parallel.{circumflex over
(V)}.sub.e.parallel..sup.2 (23)
Where a minimization is performed over all possible {circumflex
over (V)}.sub.e. Solving this minimization yields the expression
{circumflex over (V)}.sub.e=(A.sup.TA+tI).sup.-1AV.sub.c
The regularization parameter t controls the amount of spatial
smoothing applied to reconstructed potentials {circumflex over
(V)}.sub.e. The regularization parameter t provides a trade off
between spatial resolution and sensitivity to noise. As t
decreases, the reconstruction resolution is improved, but noise and
the instability of the solution increases. In some embodiments, t
may be chosen such that it is three (3) times the root mean square
value of noise detected by the electrodes. Other methods such
L-curve may be used to find an optimal regularization
parameter.
In addition to addressing the ill-posedness of the inversion
problem, Tikhonov regularization also solves the problem of the
under-determination of A.
FIG. 7 is a flowchart of an exemplary procedure 700 for
reconstructing physiological information from signals acquired by
the multiple electrodes of the catheter 110.
As shown, the catheter 110 is moved to one of multiple locations
within the heart chamber at 710. In some embodiments an operator
controls the movement of the catheter and decides its next
location, while in other embodiments the catheter's movement is
fully or partially automated.
Once the catheter has reached a location in the heart chamber, the
position of the catheter 110 in relation to the endocardium surface
representation is determined at 720.
Particularly, the localization system tracking the location of the
catheter 110 determines the 3D spatial coordinates of the catheter
110 relative to the localization system. The localization system
thus provides the position and orientation of the catheter 110 in
terms of the localization system coordinate system. The previously
determined geometric coordinate transformation vector t.sub.0 is
then applied to the position of the catheter 110, as expressed in
terms of the localization system's coordinate system, and
transforms that position to a resultant catheter position expressed
in term of the endocardium surface's coordinate system.
The catheter's multiple electrodes then acquire the raw data
signals that resulted from the electrical activity of the heart and
send the signals to the processing unit 120 at 730. In some
embodiments the acquired signals are electrical and/or magnetic
signals resulting from the electrical activity of the heart. As
will become apparent below, to reduce the error associated with the
measurement of the signals, in some embodiments, the catheter's
multiple electrodes acquire multiple sets of signal in each heart
beat over several heart beats.
Additionally, in some embodiments signal acquisition is performed
in several locations in the heart chamber. Under these
circumstances the multiple sets of signals are processed (e.g., by
performing an averaging or a weighted averaging operation) to
generate a resultant set of raw data on which the reconstruction
procedure will subsequently be performed. A forward transform A is
then constructed for the composite raw data set that includes data
from multiple catheter locations, and the reconstruction set of
physiological data, corresponding to the composite set, is then
determined. To consolidate the signals from the catheter's various
locations into a composite set, a synchronization mechanism may be
used to enable the system 100 to acquire signals at substantially
the same cycle of heart's electrical activity. The synchronization
could be based on physiological data (e.g., ECG measurements,
intracardiac electrogram measurement, operator pacing) collected by
the synchronization mechanism. Accordingly, the reconstruction of
physiological information from a composite set obtained in the
above-described manner results in processing the synchronized raw
data signals as though they were obtained at one time from all the
positions sampled by the catheter's electrodes for the different
positions of the catheter in the heart chamber.
Having acquired the raw data, the forward reconstruction transform
A is determined at 740. As explained above, the forward transform A
depends on the position and/or orientation of the catheter 110
relative to the endocardium surface representation. In some
embodiments, determining the matrix A includes computing the values
of the forward matrix in accordance with the expression
(-S.sub.c.fwdarw.c+I+O.sub.e.fwdarw.cO.sub.e.fwdarw.e.sup.-1S.sub.c.fwdar-
w.e).sup.-1(O.sub.e.fwdarw.cO.sub.e.fwdarw.e.sup.-1(I-S.sub.e.fwdarw.e)+S.-
sub.e.fwdarw.c), as more particularly explained above. In those
embodiments where an actual computation of the above expression is
carried out in real-time or near real-time, the computation is
expedited by retrieving from storage device 160 (or some other
memory device) pre-computed reconstruction matrix components such
as the components relating to S.sub.e.fwdarw.e, O.sub.e.fwdarw.e,
and O.sub.e.fwdarw.e.sup.-1. Under these circumstances, the task of
computing the forward transform A for a particular set of raw data
is reduced to completing the computation of an already existing
partially computed forward transform A by generating the missing
components based on, for example, the particular position and
orientation of the catheter 110.
In other embodiments, fully computed forward matrices, each
corresponding to a particular position of the catheter, can be
retrieved from storage device 160. In those embodiments the
position of the catheter 110 and/or its electrodes is used to
access a look-up table that maintains the various pre-computed
forward transforms.
Having determined the forward transform, the reconstructed set of
physiological information (e.g., electrical potentials) at the
endocardium surface representation is determined at 750. In
particular, a regularized inversion procedure as described above is
used to estimate the values of the reconstructed physiological
information set based on the set of raw data that was acquired (be
it a set of data acquired from a single measurement by the multiple
electrodes or some resultant set derived from multiple
measurements) and the forward transform A that was determined at
750 (for example, as described above with respect to Equation
(21)).
Once the reconstructed set of physiological information has been
computed, the physiological information can be overlaid on the
endocardium surface representation using, for example, conventional
graphic display techniques (e.g., graphical rendering).
Post-processing operations may be additionally applied to the set
of reconstructed physiological information. The physiological
information can be displayed, for example, using a color code
whereby a color is assigned to ranges of values. A certain value
corresponding to a particular surface element is mapped to a
corresponding color which is then used to fill the area on the
graphical representation of the endocardium associated with the
surface element with that color. Other ways to represent the values
of the physiological information can be used.
Signal Acquisition Over Multiple Heart Beats
As described herein, the reconstruction of physiological
information at the endocardium surface is affected by noise. To
control the effect noise has on the reconstructed information at
the endocardium surface representation, the Tikhonov regularization
technique can be used, whereby the regularization parameter t is
chosen, in some embodiments, to be three times the root mean square
of noise. Although the Tikhonov regularization technique helps to
reduce the computation error due to noise, the technique adversely
affects the spatial resolution of the reconstructed information.
The larger the regularization parameter, the more spatially smooth
(and hence low resolution) the reconstruction becomes. It is
therefore preferable to reduce all sources of error when performing
the reconstruction. The signals detected by catheter electrodes
should be shielded to reduce interference and conditioned by a low
noise input stage.
In addition to these measures, it is also possible to improve
signal to noise by conducting measurements over a period of
multiple heart beats. The signal to noise ratio can be improved by
a factor of {square root over (B)} where B is the number of
measurements in the presence of a periodic signal and independent
and identically distributed noise. Thus, in situations involving
periodic arrhythmias, under the assumption that multiple beats are
identical, it is possible to improve signal-to-noise ratio by
sampling over multiple beats.
In situations where the catheter 110 maintains a fixed location,
the forward transformation A remains constant between beats. The
vector V.sub.c(t) is defined as the measurements made on the
catheter at instant t. If the signals are sampled at increments of
.DELTA.t (e.g. 1 mS), then for a heart beat having a period P (e.g.
750 mS for 80 beats per minute) the measured signals can be
expressed as V.sub.c(s.DELTA.t+P.sub.b) or V.sub.c(s,b) where s is
the phase number in the cycle, and P.sub.b is the time stamp at
which the fiducial marker associated with beat b was detected. The
parameter s can thus be regarded as a specific phase in the cardiac
cycle. To assign a measurement at time t with the appropriate
values of s and b, a specific fiducial marker needs to be
identified within each heart beat. This can be done by relying on
reference signals such as body surface ECG or intracardiac signals
such as those collected in the coronary sinus. A specific
implementation of this is described further below in the next
section.
If data over a number of beats equal to B is collected, then B
measurements of signals are available for the phase s of the heart
cycle. Thus, the B measurements at the same phase can be averaged
according to:
.function..times..times..function. ##EQU00029##
Since the resultant set of signals corresponds to data averaged
over B measurements, assuming independently and identically
distributed noise sources an improvement in signal to noise
proportional to {square root over (B)} is obtained. The resultant
averaged set of signal values are now used to perform the
reconstruction of the physiological information, and accordingly
the reconstruction resolution can be increased by using the
averaged data and reducing the value of the Tikhonov regularization
parameter t by a factor of {square root over (B)}.
Additional improvement in reconstruction accuracy can be obtained
by moving the catheter. Since catheter movement is slow relative to
the heart rate, when moving the catheter raw signals are acquired
at multiple locations over multiple beats. Catheter movement and
the use of multiple beats have several advantages. One advantage is
that use of multiple beats improves the signal-to-noise ratio.
Another advantage is that the movement of the catheter allows
improved resolution in areas that the catheter was moved closer to,
and effectively provides signal measurements from more electrode
locations (thereby effectively providing more electrodes).
Unlike the fixed position catheter scenario, however, when the
catheter acquires its measurements at multiple locations, the
forward transform matrix A does not remain constant.
Generally, each catheter location where raw data is acquired would
be associated with a corresponding forward transformation A.sub.b.
After collecting data over multiple beats in multiple locations and
detecting the phase s for each measurement, a new measurement
vector V.sub.c can be assembled that contains all electrode
measurements conducted at the same (or substantially the same)
phase s. Thus, the vector V.sub.c(s) can be expressed as:
.function..function..function..function. ##EQU00030##
Additionally, a composite forward transform is defined such
that:
##EQU00031##
where A.sub.b are determined as described above.
The relationship between the composite vector V.sub.c(s), the
composite forward transform and the reconstructed set of
physiological information (in this case, electrical potentials) is
expressed as: V.sub.e(s)=V.sub.c(s) (27)
Using the relationship articulated in Equation (27), the values of
V.sub.e(s) (i.e., the reconstructed set of physiological
information corresponding to a particular phase s) can be
determined by performing the inverse procedure previously
discussed. For example, a regularized inversion of may take place
as discussed above.
The effect of moving the catheter for a periodic arrhythmia is
similar to the effect of having multiple catheters in a single
beat.
Until now it was assumed that the signal propagation is periodic,
and that therefore V.sub.e(s,b.sub.1)=V.sub.e(s,b.sub.2) for any
b.sub.1 and b.sub.2. However, if the cardiac propagation is
non-periodic, this assumption is not necessarily valid, and
therefore an averaging operation to improve, for example, the
signal-to-noise ratio, may not be feasible.
Nonetheless, even in situations involving non-periodic signals,
there are several properties that remain substantially the same
over multiple beats. For example, tissue properties remain
relatively unchanged over a period of several minutes. One way to
characterizing tissue is through the formation of a voltage map (as
will be described below). Under the assumption that the maximum
voltage amplitude in a particular area remains substantially
constant over a period of multiple beats, a multi-beat enhancement
of the voltage map resolution can be achieved. Particularly, the
voltage map value can be defined as:
.times..function..times..function. ##EQU00032##
As data is collected over B beats and a reconstruction operation is
performed for each beat, B voltage maps VMV.sub.b are produced.
Let us suppose that we would like to find the VMV for a particular
point on the endocardium for which we know both the voltage map
values for each beat (VMV.sub.b) and the reconstruction resolution
for each measurement Res.sub.b (derived in a manner described
below). We may now assign a new weighted average value for this VMV
where
.times..beta..times..beta..times..times..times..times..beta.
##EQU00033##
It will be appreciated that other types of averaging schemes to
determine the average VMV may be utilized.
Signal Phase Alignment
In order to process data acquired over multiple beats it is
necessary to align the data relative to a specific phase in the
electrical cycle. The following describes a method of aligning the
K signals V.sub.1(t)-V.sub.K(t), as shown in FIG. 12.
In the first stage, all signals are amplified, filtered and
sampled. A synchronization signal is concurrently acquired in an
identical manner. The synchronization signal can be acquired from
surface ECG, or an intracardiac signal in a fixed location such as
that detected by a coronary sinus catheter.
The Fiducial Point Detector (FPD) detects the time markers at which
particular event occur. For example, the FPD may detect the R wave
in surface ECG or activation time of an intracardiac electrogram.
The detection is performed in a manner similar to alignment methods
for averaging of high resolution ECG. See, for example, Jane
Raimon,"Alignment methods for averaging of high resolution cardiac
signals", IEEE Transactions in Biomedical Engineering, Vol. 38 No.
6 (June 1991); Brooks, Dana, "Improved alignment method for noisy
high-resolution ECG and Holter records using multiscale
cross-correlation", IEEE Transactions in Biomedical Engineering,
Vol. 50, No. 3 (March 2003); Breithardt, Gunter, "Standards for
analysis of ventricular late potentials using high-resolution or
signal-averaged electrocardiography", Circulation, Vol. 83, No 4
(April 1991).
Briefly, a template signal is cross-correlated with the
synchronization signal. Fiducial points are detected when the
cross-correlation between the template and synchronization signal
reach a maximum. The template signal itself may be a relatively
clean signal that was acquired from the synchronization signal
previously, or an average of a number of these signals. The
template signal may be selected visually by the user or
automatically by a computer algorithm which uses a priori knowledge
about the statistics of the signal.
It should be noted that in case of mapping performed during pacing,
the synchronization signal may come from the pacing apparatus. In
this case, no cross-correlation is necessary and the FPM will just
pass the time markers associated with the synchronization
signal.
The FDM outputs the time markers P.sub.1 . . . P.sub.B at which the
fiducial points were detected. These time markers are then used to
align the acquired signals. After the acquired signals are aligned,
they are expressed as V.sub.K(s,b), where s is the phase number in
a particular beat b.
Post Processing and Visualization
A number of post-processing and visualization techniques may be
used to display the reconstructed physiological information in a
clinically meaningful manner. Some of the post-processing
operations include the following.
A. Resolution Display
As discussed previously, the potential is greatly attenuated on its
way from the endocardial surface to catheter electrodes. The
potential may be attenuated so much, that by the time it reaches
the catheter its values are lower than the noise floor. Due to this
attenuation, potentials (or other types of physiological
information) on the endocardium surface representation in areas
that are closer to the catheter may be reconstructed with greater
accuracy and spatial resolution than potentials in areas farther
away from the catheter. To increase the utility of reconstructed
potentials such that clinical decisions can be aided by the
information they provide, it is useful to provide the physician
with information about the fidelity of the reconstruction.
In some embodiments a heuristic approach that is designed to
measure how much of the signal remains above noise by the time it
reaches to the catheter is used to compute resolution maps.
Generally, signals experience attenuation which depends, among
other things, on the spatial frequency of signal. That is, the
higher the spatial frequency, the greater the level of
attenuation.
The singular value decomposition of the forward transform A
suggests an approach for determining the attenuation levels of the
forward transformation. Particularly, in the singular value
decomposition of A, the right and left singular vectors R.sub.i and
L.sub.i are unique orthonormal bases that map one to another under
A and are related through the vector .sigma..sub.i which represents
an attenuation of one basis, relative to the other. Thus,
decomposing the endocardial signal V.sub.e under A with respect to
the right singular vectors of A provides:
.times..alpha..times. ##EQU00034##
Accordingly:
.times..alpha..times..sigma..times. ##EQU00035##
It follows that the portion of the signal proportional to the
singular vector R.sub.i is "reconstructible" if
.alpha..sub.i.sigma..sub.i exceeds the level of noise. In some
embodiments, an endocardial signal V.sub.e is deemed to be
reconstructible if the singular value components that remain above
noise after being transformed by A add up to at least 60% of the
total signal energy. The resolution at a particular point i on the
endocardium is said to be Res.sub.i if a bell-shaped signal
centered at that point and having a "standard deviation" of
Res.sub.i is reconstructible.
Another approach to determine the resolution of the reconstructed
physiological information at the endocardium surface representation
also relies on the use of the forward transform A. As was
explained, A is a matrix of size m.times.n where the number of rows
m corresponds to the number of catheter electrodes and the number
of columns n is the number of elements on the mesh describing the
shape of the endocardium surface. For example, the values in column
i in A can represent the voltage measurements on all electrodes had
there been a potential of 1V on the i.sup.th element on the mesh
and a potential of 0V everywhere else. Therefore, summing the
squared values in a particular column i and dividing the sum by the
number of electrodes, yields a value proportional to the average
amount of energy that propagated from element i on the heart
surface to the catheter's electrodes. Thus, the resolution
Res.sub.i for the i.sup.th element on the endocardium surface can
be expressed as:
.times..times. ##EQU00036##
It will be appreciated that each squared entry in the column
corresponds to the energy received by one of the catheter
electrodes (j in the above equation represents the j.sup.th
electrode of the catheter).
The average amount of energy that makes it from a particular
element i on the heart's surface to the catheter's electrodes is a
good indicator of the reconstruction resolution. Areas on the heart
surface whose voltage is attenuated greatly by the time they reach
the catheter are reconstructed with poor resolution while areas
whose voltage arrives less attenuated are reconstructed more
accurately.
In general, reconstruction resolution on a particular point on the
endocardial boundary depends on that point's distance to the
catheter and the solid angle at which the catheter appears from
that point.
FIG. 8 is a flowchart of an exemplary embodiment of a procedure 800
to generate a resolution map. As shown, a forward transform A,
corresponding to a particular catheter location is first obtained
at 810 using, for example, either of the techniques described
above.
It will be appreciated that other techniques for determining a
resolution map having values indicative of the degree of spatial
resolution of the determined physiological information for at least
some locations at the endocardium surface can be used.
Once generated, the resolution map may be displayed at 830 to the
physician to aid in determining the accuracy and reliability of the
reconstructed physiological information. In preferred embodiments
the resolution map is overlaid (i.e., superimposed) with the
reconstructed physiological signal on the endocardial
representation by one of the following techniques: 1. Grid
Lines--The resolution values can be represented on the endocardial
representation by controlling the grid line density appearing on
the endocardial representation. Thus, in areas of high resolution
the grid lines on the endocardial representation will appear dense
while in areas of low resolution they will appear coarse.
Similarly, the resolution can be displayed by superimposing dots on
the endocardial representation. In this case resolution is
displayed by controlling dot density, instead of grid line density,
such that dot density in high resolution areas will be higher than
in areas of low resolution. 2. Transparency--The resolution values
can also be represented on the endocardial surface by controlling
the transparency of the displayed areas. Thus, areas of high
resolution will appear opaque while areas of low resolution will
appear increasingly transparent. 3. Brightness--The resolution
values can also be represented by controlling the brightness of the
displayed areas on the endocardium surface representation. Thus,
areas of high resolution will appear bright while those of low
resolution will appear increasingly dark.
In some embodiments instead of assigning overlaying the resolution
value a thresholding scheme may be used. A minimum resolution
threshold (for example 1 cm) may be defined. Areas where the
resolution is better than the threshold will be displayed (e.g.
opaque, bright, etc.) with corresponding physiological information
while areas of low resolution will be masked (e.g. transparent,
dark, etc.).
In yet other embodiments the resolution may be displayed on an
independent endocardial representation, alongside an additional
endocardial representation depicting the physiological
information.
The physician may use this resolution map to determine the
reliability with which data is reconstructed on the endocardium
surface representation. If an inadequate resolution is available at
a point of interest, the physician may advance the catheter towards
the point of interest to improve reconstruction resolution.
Additionally, in some embodiments generated resolution maps are
used to construct a composite set of reconstructed physiological
information. In particular, in circumstances where for each
location of the catheter a separate reconstructed set of
physiological information (which may have been obtained over
multiple heart beats and/or multiple locations) is available, a
corresponding resolution map, for each of those available
reconstructed sets, is generated using, for example, one of the
techniques described above. Subsequently, a resultant composite set
of reconstructed physiological information is generated by
selecting, for a particular surface element at the endocardium
surface representation, a reconstructed value from that set of
reconstruction physiological information whose corresponding
resolution map value is the best or most optimal or by performing a
weighted average as described above.
B. Isopotential Representation
The reconstructed potentials provide a snapshot of potential
distribution on the endocardium surface at a given instant. Such
potential values may be color coded and superimposed on the
endocardial representation for display. For clarity, contoured
isopotential lines may also be added showing lines of interpolated
equal potential.
The propagation of potentials (i.e., their temporal behavior) may
also be calculated using multiple time instances and displayed in a
similar manner. As a result color data and/or isopotential lines
will be displayed as an animation depicting the temporal behavior
of potential distribution.
C. Timing Map
Timing maps display information pertaining to the timing of
particular events relative to the occurrence of other easily
detectable reference events. This information may include temporal
features such as the onset of depolarization (activation),
repolarization and activation duration. Reference events may
include the R wave on an ECG or activation time in a specific
intracardiac electrogram (e.g. electrode at coronary sinus). One
type of timing map, activation time map (isochrone), is commonly
used to describe activation wavefront propagation. In this type of
map the activation time of each point on the endocardium is
determined and its value color coded and displayed on the
endocardial surface. In other words, an isochrones map identifies
the time instances at which particular locations on the endocardium
surface experienced a depolarization of their potentials. The
electrical activity during a heart beat cycle (or more) can thus be
displayed on a single isochrones contour map showing lines of
interpolated equal activation times. The construction of the
isochrones map requires the detection of activation instants from
reconstructed potentials.
FIG. 10 is a flowchart of an exemplary embodiment of a procedure
1000 to generate an activation time map. As shown, multiple
reconstructed sets of potential values relating to the endocardium
surface are provided at 1010.
Next, for each surface element associated with the series of
reconstructed sets, the activation time (i.e., the time at which
the potential was depolarized) at that surface element is
determined at 1020 based on the values of reconstructed sets. In
some embodiments, the activation time is determined by identifying
the reconstructed set at which the rate of potential change was the
highest. In some other embodiments, the activation time is
determined by identifying the first reconstructed set at which
there was a potential change, as compared to the preceding
reconstructed set, exceeding some pre-determined threshold. In yet
other embodiments, activation time is determined using
cross-correlation with a template beat in the manner described
above. Other ways for establishing the activation time instance can
be used. The identified reconstructed set is associated with a
particular time instance, which is recorded in the activation time
map. It will be appreciated that the entries of the activation time
map may have initially been set to a value that is indicative of no
associated activation time (e.g., a value of 0 or a negative
value).
Once the activation time (if any) has been determined for all the
surface elements of the endocardium surface representation, the
derived activation time map is displayed at 1030.
While isochrones maps are helpful in depicting activation
propagation in a single image, they can be limited in that they
discard information related to potential waveforms, amplitude and
areas where multiple activations per beat are present.
Additional processing may be conducted to highlight properties of
the activation propagation. For example, areas that have not been
activated or that experienced more than one activation in a given
heart beat may be highlighted for further investigation.
It will be appreciated that activation time maps may be generated
for other types of physiological information.
D. Voltage Map
Voltage maps can be used to display characteristics of voltage
amplitude in given areas of the endocardium surface. The voltage
maps are calculated from the reconstructed potentials over a single
or multiple beats. Useful information may be maximum amplitude, or
root mean square potential value. Voltage maps are particularly
useful for the detection of infracted areas which tend to have
lower amplitudes generally <1 mV.
FIG. 11 is a flowchart of an embodiment of an exemplary embodiment
of a procedure 1100 to generate a voltage map. As shown, one or
more reconstructed sets of electrical potentials are provided at
1110. The reconstructed set(s) may correspond to reconstructed
potentials computed from a single measurement performed by the
multiple electrodes of the catheter 110, or alternatively may
correspond to several measurements taken over several heart beats,
or may more generally correspond to multiple measurements taken at
multiple locations in the heart chamber over several heart beats
and/or at different phases of the heart cycle.
The reconstructed sets provided are then processed to determine,
for each surface element of the endocardium surface representation,
a metric value that is representative of the corresponding values
from the reconstructed sets (at 1120). In some embodiments, the
metric value is the maximum amplitude potential value identified
from the respective values (provided by the available reconstructed
sets) associated with a surface element. In some embodiments, the
metric value is computed as the root mean square of the various
respective values from the reconstructed sets. Other representative
values of the potential at various locations of the endocardium
surface may be computed. Once the metric value for a particular
surface element of the endocardium surface representation has been
computed, that value is recorded in the corresponding entry of the
voltage map.
Voltage maps may have a large dynamic range of values. While
healthy areas of the heart tend to have potential values in the
range of 5-60 mV at the endocardium surface, infracted areas tend
to have maximum amplitudes lower than 1 mV. This wide dynamic range
makes it difficult to visualize these voltages effectively. To
enhance visualization, the color map which assigns colors to
voltages may be adjusted. One commonly used adjustment is to define
a range of interest such that values that lie outside the range are
clamped to either minimum or maximum range value. Values in the
range are linearly matched to a color map.
Thus, in some embodiments the metric values of the voltage map are
converted to corresponding color map values (at 1130). The voltage
map containing the color values computed at 1130 is subsequently
displayed at 1140 on the endocardium surface representation.
FIG. 5 is an illustration of an exemplary voltage map generated
using a linear color map matching scheme. As shown, areas of
differing electrical activity in the endocardium surface are
readily discernable. Another useful color conversion scheme for the
voltage map procedure 1100 is a logarithmic color conversion
scheme.
E. Difference Map
As previously described, another type of post-processing operation
that is based on voltage maps is the generation of a difference
map. The difference map provides information regarding the
effectiveness of the clinical procedure, such as an ablation
procedure, performed on a patient to ameliorate the symptoms of
arrhythmias. The difference map compares the electrical behavior of
the heart, as reflected from two or more voltage maps generated
before and after the performance of the particular clinical
procedure.
Thus, after generating a first a voltage map, the clinical
procedure, for example, an ablation procedure, is performed at the
areas of the heart that are determined, aided by the information
provided by the first voltage map, to require treatment. After the
ablation procedure had been performed, a second voltage map is
generated. The values of the first ablation map are subtracted from
the corresponding values of the second voltage map. If there is no
significant difference between any the respective voltage map
entries corresponding to a particular endocardium surface locations
where the ablation procedure was performed, this may be indicative
that the ablation procedure performed at those locations had little
clinical effect.
It will again be appreciated that maps analogous to the voltage
maps described above may be generated for other types of
physiological information. For example, the difference map could
show differences in measured potential at a specific phase in the
heart cycle.
F. Frequency Maps
As the understanding of fibrillation mechanisms develops, there is
an increased emphasis on using spectral analysis to guide
treatment. Spectral analysis and frequency mapping are used to
identify localized sites of high-frequency activity during
fibrillation. Ablation at these sites results in changes and
sometimes termination of the fibrillation, indicating their role in
the maintenance of arrhythmia.
In spectral analysis frequency data is color coded and displayed on
the 3D anatomical endocardium surface representation. In some
embodiments the data displayed is the dominant frequency at which
activation takes place in a given location.
For example, FIG. 9 is a diagram showing a time and frequency
representations of an electrogram. As shown, the image on the left
depicts the electrogram potential as a function of time in
fibrillating tissue. The image on the right depicts a Fast Fourier
Transform (FFT) of the same signal. In this example, the dominant
frequency (DF) of the signal is 9.6 Hz. For each location of
interest the DF can be calculated by applying an FFT on the
time-dependent signal, determining the frequency at which maximum
amplitude is present. The DF is then color coded and displayed on
corresponding chamber anatomy.
Similar spectral analysis may thus be performed with respect to
other reconstructed sets of the endocardium surface. FIG. 13 is a
flowchart of an exemplary embodiment of a procedure 1300 for
generating a frequency map. As shown, multiple reconstructed sets
of physiological information at the endocardium surface are
provided at 1310. The reconstructed sets correspond to a temporal
sequence of measurements performed by the catheter 110.
Subsequently, a frequency transform procedure, such as a Fast
Fourier Transform, is performed on the reconstructed sets at 1320.
The frequency transform procedure is performed individually for the
values of the reconstructed sets corresponding to individual
surface elements of the endocardium surface representation. A
representative value, for example a dominant frequency, obtained
from the resultant frequency representation of the time behavior
for a particular surface element is recorded in the frequency map
entry corresponding to that particular surface element. In some
embodiments, the temporal data with respect to which the frequency
transform is performed could correspond to multiple surface
elements.
Once the frequency transform procedure has been completed, the
frequency representation values are converted to corresponding
color map values to enable the resultant values to be more easily
observed when displayed (at 1330). The color frequency map,
containing the color values computed at 1330, is subsequently
displayed at 1340 on the endocardium surface representation.
Applications
Mapping of electro-anatomical characteristics of heart tissue can
be helpful in guiding therapies for a number of diseases including
arrhythmia and heart failure.
For targeted therapy of arrhythmia, it is necessary to accurately
identify the source of the arrhythmia. The source of the arrhythmia
may be identified by electro-anatomically characterizing the
underlying tissue during sinus rhythm, spontaneous or induced
arrhythmia, or during pacing. Electro-anatomical characterization
includes a number of spatio-temporal features of the conduction.
For example, these include activation time mapping to identify
early activation sites that are indicative of exit sites and
unwanted automatic cell firing, maximum voltage to identify low
voltage areas that are indicative of infracted regions, as well as
repolarization time and spectral behavior. Once the source of the
arrhythmia has been identified, a therapeutic course of action is
undertaken. Therapy may include ablation of tissue accomplished by
the delivery of RF energy, microwave energy, cooling, ultrasound,
chemical agents, radiation or laser. Alternatively, therapy may
also be accomplished by the introduction and targeted delivery of
biological agents such as cells capable of performing myocardial
repair, or genes capable of changing physiological behavior.
For cell therapy, see, for example: Ronglih Liao, Ph.D., "Cell
Therapy Attenuates Deleterious Ventricular Remodeling and Improves
Cardiac Performance After Myocardial Infarction", Circulation (Apr.
10, 2001); Pieter C. Smits, "Catheter-Based Intramyocardial
Injection of Autologous Skeletal Myoblasts as a Primary Treatment
of Ischemic Heart Failure", Journal of the American College of
Cardiology, Vol. 42, No. 12 (2003); Gepstien, "Regenerating the
Heart Using Human Embryonic Stem Cells--from Cell to Bedside",
IMAJ, Vol 8 (March 2006).
For gene therapy, see, for example: J. Kevin Donahue, "Focal
modification of electrical conduction in the heart by viral gene
transfer", Nature Medicine, Volume 6, Number 12 (December 2000);
and Kevin Donahue, M. D., "Targeted Modification of Atrial
Electrophysiology by Homogeneous Transmural Atrial Gene Transfer",
Circulation (Jan. 25, 2005).
In patients with heart failure, electro-anatomical mapping
primarily involves the identification of areas with low potentials
that are indicative of infarction as well as areas that exhibit
reduced mechanical motion. Once diseased areas have been
identified, therapy may involve the targeted delivery of
introduction of cells or genes capable of performing myocardial
repair and regeneration. Recent advances in the area of stem cell
biology have provided scientists with potential tools to develop
novel strategies for myocardial regeneration. Such biological
therapies also affect the electrical properties of the tissue which
can be mapped using electro-anatomical mapping.
For both arrhythmia and heart failure treatment, following therapy
delivery, electro-anatomical mapping may be used to validate
therapy effectiveness. For example, this may be accomplished during
the same procedure to validate conduction block in areas where
ablation energy was delivered or to validate the regenerated
mechanical motion following biological implantation. Alternatively,
or in addition, a scheduled follow up may be performed several
months after the procedure to validate long term therapy
effectiveness.
OTHER EMBODIMENTS
The methods and systems described herein are not limited to a
particular hardware or software configuration, and may find
applicability in many computing or processing environments. The
methods and systems can be implemented in hardware, or a
combination of hardware and software, and/or can be implemented
from commercially available modules applications and devices. Where
the implementation of the systems and methods described herein is
at least partly based on use of microprocessors, the methods and
systems can be implemented in one or more computer programs, where
a computer program can be understood to include one or more
processor executable instructions. The computer program(s) can
execute on one or more programmable processors, and can be stored
on one or more storage medium readable by the processor (including
volatile and non-volatile memory and/or storage elements), one or
more input devices, and/or one or more output devices. The
processor thus can access one or more input devices to obtain input
data, and can access one or more output devices to communicate
output data. The input and/or output devices can include one or
more of the following: Random Access Memory (RAM), Redundant Array
of Independent Disks (RAID), floppy drive, CD, DVD, magnetic disk,
internal hard drive, external hard drive, memory stick, or other
storage device capable of being accessed by a processor as provided
herein, where such aforementioned examples are not exhaustive, and
are for illustration and not limitation.
The computer program(s) can be implemented using one or more high
level procedural or object-oriented programming languages to
communicate with a computer system; however, the program(s) can be
implemented in assembly or machine language, if desired. The
language can be compiled or interpreted. The device(s) or computer
systems that integrate with the processor(s) can include, for
example, a personal computer(s), workstation (e.g., Sun, HP),
personal digital assistant (PDA), handheld device such as cellular
telephone, laptop, handheld, or another device capable of being
integrated with a processor(s) that can operate as provided herein.
Accordingly, the devices provided herein are not exhaustive and are
provided for illustration and not limitation.
References to "a microprocessor" and "a processor", or "the
microprocessor" and "the processor," can be understood to include
one or more microprocessors that can communicate in a stand-alone
and/or a distributed environment(s), and can thus be configured to
communicate via wired or wireless communications with other
processors, where such one or more processor can be configured to
operate on one or more processor-controlled devices that can be
similar or different devices. Furthermore, references to memory,
unless otherwise specified, can include one or more
processor-readable and accessible memory elements and/or components
that can be internal to the processor-controlled device, external
to the processor-controlled device, and can be accessed via a wired
or wireless network using a variety of communications protocols,
and unless otherwise specified, can be arranged to include a
combination of external and internal memory devices, where such
memory can be contiguous and/or partitioned based on the
application. Accordingly, references to a database can be
understood to include one or more memory associations, where such
references can include commercially available database products
(e.g., SQL, Informix, Oracle) and also proprietary databases, and
may also include other structures for associating memory such as
links, queues, graphs, trees, with such structures provided for
illustration and not limitation.
A number of embodiments of the invention have been described.
Nevertheless, it will be understood that various modifications may
be made without departing from the spirit and scope of the
invention. Accordingly, other embodiments are within the scope of
the following claims.
* * * * *